Stable haptic interaction control using energy bounding algorithm

@article{Kim2004StableHI,
  title={Stable haptic interaction control using energy bounding algorithm},
  author={Jong-Phil Kim and Jeha Ryu},
  journal={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
  year={2004},
  volume={2},
  pages={1210-1217 vol.2}
}
Stability is one of the important considerations in the design and control of haptic simulation systems because unstable behavior may cause damage on human operator or deterioration of realistic haptic feeling. In this paper, a basic theory on the passivity condition for the sampled-data system has been reviewed and energy relations on each subsystem of haptic simulation have been investigated. Based on this, we propose a novel energy bounding algorithm for stable haptic interaction control… CONTINUE READING
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Passivity of a class of sampled - data system : Application to haptic intcrfaas , ” I

I. H. Hannaford
E E E Trans . Robot . Automat .

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