Velocity estimation algorithms for audio-haptic simulations involving stick-slip.
Identifieur interne : 00A466 ( Main/Exploration ); précédent : 00A465; suivant : 00A467Velocity estimation algorithms for audio-haptic simulations involving stick-slip.
Auteurs : Stephen Sinclair ; Marcelo M. Wanderley ; Vincent HaywardSource :
- IEEE transactions on haptics [ 2329-4051 ]
English descriptors
- KwdEn :
- MESH :
Abstract
With real-time models of friction that take velocity as input, accuracy depends in great part on adequately estimating velocity from position measurements. This process can be sensitive to noise, especially at high sampling rates. In audio-haptic acoustic simulations, often characterized by friction-induced, relaxation-type stick-slip oscillations, this gives a gritty, dry haptic feel and a raspy, unnatural sound. Numerous techniques have been proposed, but each depend on tuning parameters so that they may offer a good trade-off between delay and noise rejection. In an effort to compare fairly, each of thirteen methods considered in the present study was automatically optimized and evaluated; finally a subset of these were compared subjectively. Results suggest that no one method is ideal for all gain levels, though the best general performance was found by using a sliding-mode differentiator as input to a Kalman integrator. An additional conclusion is that estimators do not approach the quality available in physical velocity transduction, and therefore such sensors should be considered in haptic device design.
DOI: 10.1109/TOH.2014.2346505
PubMed: 25122594
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream PubMed, to step Corpus: 000573
- to stream PubMed, to step Curation: 000573
- to stream PubMed, to step Checkpoint: 002218
- to stream Ncbi, to step Merge: 003213
- to stream Ncbi, to step Curation: 003213
- to stream Ncbi, to step Checkpoint: 003213
- to stream Main, to step Merge: 00B010
- to stream Main, to step Curation: 00A466
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Velocity estimation algorithms for audio-haptic simulations involving stick-slip.</title><author><name sortKey="Sinclair, Stephen" sort="Sinclair, Stephen" uniqKey="Sinclair S" first="Stephen" last="Sinclair">Stephen Sinclair</name></author><author><name sortKey="Wanderley, Marcelo M" sort="Wanderley, Marcelo M" uniqKey="Wanderley M" first="Marcelo M" last="Wanderley">Marcelo M. Wanderley</name></author><author><name sortKey="Hayward, Vincent" sort="Hayward, Vincent" uniqKey="Hayward V" first="Vincent" last="Hayward">Vincent Hayward</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="????"><PubDate><MedlineDate>2014 Oct-Dec</MedlineDate></PubDate></date><idno type="doi">10.1109/TOH.2014.2346505</idno><idno type="RBID">pubmed:25122594</idno><idno type="pmid">25122594</idno><idno type="wicri:Area/PubMed/Corpus">000573</idno><idno type="wicri:Area/PubMed/Curation">000573</idno><idno type="wicri:Area/PubMed/Checkpoint">002218</idno><idno type="wicri:Area/Ncbi/Merge">003213</idno><idno type="wicri:Area/Ncbi/Curation">003213</idno><idno type="wicri:Area/Ncbi/Checkpoint">003213</idno><idno type="wicri:Area/Main/Merge">00B010</idno><idno type="wicri:Area/Main/Curation">00A466</idno><idno type="wicri:Area/Main/Exploration">00A466</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Velocity estimation algorithms for audio-haptic simulations involving stick-slip.</title><author><name sortKey="Sinclair, Stephen" sort="Sinclair, Stephen" uniqKey="Sinclair S" first="Stephen" last="Sinclair">Stephen Sinclair</name></author><author><name sortKey="Wanderley, Marcelo M" sort="Wanderley, Marcelo M" uniqKey="Wanderley M" first="Marcelo M" last="Wanderley">Marcelo M. Wanderley</name></author><author><name sortKey="Hayward, Vincent" sort="Hayward, Vincent" uniqKey="Hayward V" first="Vincent" last="Hayward">Vincent Hayward</name></author></analytic><series><title level="j">IEEE transactions on haptics</title><idno type="eISSN">2329-4051</idno></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Acoustics</term><term>Algorithms</term><term>Computer Simulation</term><term>Equipment Design</term><term>Friction</term><term>Human Engineering (methods)</term><term>Models, Theoretical</term><term>Sound</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Human Engineering</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Acoustics</term><term>Algorithms</term><term>Computer Simulation</term><term>Equipment Design</term><term>Friction</term><term>Models, Theoretical</term><term>Sound</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">With real-time models of friction that take velocity as input, accuracy depends in great part on adequately estimating velocity from position measurements. This process can be sensitive to noise, especially at high sampling rates. In audio-haptic acoustic simulations, often characterized by friction-induced, relaxation-type stick-slip oscillations, this gives a gritty, dry haptic feel and a raspy, unnatural sound. Numerous techniques have been proposed, but each depend on tuning parameters so that they may offer a good trade-off between delay and noise rejection. In an effort to compare fairly, each of thirteen methods considered in the present study was automatically optimized and evaluated; finally a subset of these were compared subjectively. Results suggest that no one method is ideal for all gain levels, though the best general performance was found by using a sliding-mode differentiator as input to a Kalman integrator. An additional conclusion is that estimators do not approach the quality available in physical velocity transduction, and therefore such sensors should be considered in haptic device design.</div></front></TEI><affiliations><list></list><tree><noCountry><name sortKey="Hayward, Vincent" sort="Hayward, Vincent" uniqKey="Hayward V" first="Vincent" last="Hayward">Vincent Hayward</name><name sortKey="Sinclair, Stephen" sort="Sinclair, Stephen" uniqKey="Sinclair S" first="Stephen" last="Sinclair">Stephen Sinclair</name><name sortKey="Wanderley, Marcelo M" sort="Wanderley, Marcelo M" uniqKey="Wanderley M" first="Marcelo M" last="Wanderley">Marcelo M. Wanderley</name></noCountry></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 00A466 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 00A466 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= pubmed:25122594
|texte= Velocity estimation algorithms for audio-haptic simulations involving stick-slip.
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Exploration/RBID.i -Sk "pubmed:25122594" \
| HfdSelect -Kh $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |