L2 -stability of haptic systems with projection-based force reflection.
Identifieur interne : 000545 ( PubMed/Corpus ); précédent : 000544; suivant : 000546L2 -stability of haptic systems with projection-based force reflection.
Auteurs : Ilia G. Polushin ; Mir Zayed HasanSource :
- IEEE transactions on haptics [ 2329-4051 ]
English descriptors
- KwdEn :
- MESH :
- instrumentation : Robotics.
- Algorithms, Biomechanical Phenomena.
Abstract
The problem of stability of haptic interaction with virtual objects is addressed, where the force reflection is implemented using the projection-based principle. A stability condition is derived that generalizes some previously known results to the case of projection-based force reflection. It demonstrates that, in this case, an additional design parameter is brought in that allows to increase the admissible stiffness of the virtual wall and decrease the update rate without changing the damping of the haptic device. A passivity based interpretation of the result is given in terms of interconnection of generalized passive systems where the excess of passivity of haptic device compensates the shortage of passivity of the virtual wall. In particular, it is shown that the projection-based force reflection allows to arbitrarily increase the excess of passivity of the haptic device without changing its physical damping.
DOI: 10.1109/TOH.2014.2305437
PubMed: 25248168
Links to Exploration step
pubmed:25248168Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">L2 -stability of haptic systems with projection-based force reflection.</title>
<author><name sortKey="Polushin, Ilia G" sort="Polushin, Ilia G" uniqKey="Polushin I" first="Ilia G" last="Polushin">Ilia G. Polushin</name>
</author>
<author><name sortKey="Hasan, Mir Zayed" sort="Hasan, Mir Zayed" uniqKey="Hasan M" first="Mir Zayed" last="Hasan">Mir Zayed Hasan</name>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">PubMed</idno>
<date when="????"><PubDate><MedlineDate>2014 Jul-Sep</MedlineDate>
</PubDate>
</date>
<idno type="doi">10.1109/TOH.2014.2305437</idno>
<idno type="RBID">pubmed:25248168</idno>
<idno type="pmid">25248168</idno>
<idno type="wicri:Area/PubMed/Corpus">000545</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">L2 -stability of haptic systems with projection-based force reflection.</title>
<author><name sortKey="Polushin, Ilia G" sort="Polushin, Ilia G" uniqKey="Polushin I" first="Ilia G" last="Polushin">Ilia G. Polushin</name>
</author>
<author><name sortKey="Hasan, Mir Zayed" sort="Hasan, Mir Zayed" uniqKey="Hasan M" first="Mir Zayed" last="Hasan">Mir Zayed Hasan</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>Algorithms</term>
<term>Biomechanical Phenomena</term>
<term>Robotics (instrumentation)</term>
</keywords>
<keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Robotics</term>
</keywords>
<keywords scheme="MESH" xml:lang="en"><term>Algorithms</term>
<term>Biomechanical Phenomena</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">The problem of stability of haptic interaction with virtual objects is addressed, where the force reflection is implemented using the projection-based principle. A stability condition is derived that generalizes some previously known results to the case of projection-based force reflection. It demonstrates that, in this case, an additional design parameter is brought in that allows to increase the admissible stiffness of the virtual wall and decrease the update rate without changing the damping of the haptic device. A passivity based interpretation of the result is given in terms of interconnection of generalized passive systems where the excess of passivity of haptic device compensates the shortage of passivity of the virtual wall. In particular, it is shown that the projection-based force reflection allows to arbitrarily increase the excess of passivity of the haptic device without changing its physical damping.</div>
</front>
</TEI>
<pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">25248168</PMID>
<DateCreated><Year>2014</Year>
<Month>09</Month>
<Day>24</Day>
</DateCreated>
<DateCompleted><Year>2015</Year>
<Month>11</Month>
<Day>10</Day>
</DateCompleted>
<Article PubModel="Print"><Journal><ISSN IssnType="Electronic">2329-4051</ISSN>
<JournalIssue CitedMedium="Internet"><Volume>7</Volume>
<Issue>3</Issue>
<PubDate><MedlineDate>2014 Jul-Sep</MedlineDate>
</PubDate>
</JournalIssue>
<Title>IEEE transactions on haptics</Title>
<ISOAbbreviation>IEEE Trans Haptics</ISOAbbreviation>
</Journal>
<ArticleTitle>L2 -stability of haptic systems with projection-based force reflection.</ArticleTitle>
<Pagination><MedlinePgn>405-10</MedlinePgn>
</Pagination>
<ELocationID EIdType="doi" ValidYN="Y">10.1109/TOH.2014.2305437</ELocationID>
<Abstract><AbstractText>The problem of stability of haptic interaction with virtual objects is addressed, where the force reflection is implemented using the projection-based principle. A stability condition is derived that generalizes some previously known results to the case of projection-based force reflection. It demonstrates that, in this case, an additional design parameter is brought in that allows to increase the admissible stiffness of the virtual wall and decrease the update rate without changing the damping of the haptic device. A passivity based interpretation of the result is given in terms of interconnection of generalized passive systems where the excess of passivity of haptic device compensates the shortage of passivity of the virtual wall. In particular, it is shown that the projection-based force reflection allows to arbitrarily increase the excess of passivity of the haptic device without changing its physical damping.</AbstractText>
</Abstract>
<AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Polushin</LastName>
<ForeName>Ilia G</ForeName>
<Initials>IG</Initials>
</Author>
<Author ValidYN="Y"><LastName>Hasan</LastName>
<ForeName>Mir Zayed</ForeName>
<Initials>MZ</Initials>
</Author>
</AuthorList>
<Language>eng</Language>
<PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType>
<PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType>
</PublicationTypeList>
</Article>
<MedlineJournalInfo><Country>United States</Country>
<MedlineTA>IEEE Trans Haptics</MedlineTA>
<NlmUniqueID>101491191</NlmUniqueID>
<ISSNLinking>1939-1412</ISSNLinking>
</MedlineJournalInfo>
<CitationSubset>IM</CitationSubset>
<MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D000465">Algorithms</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D001696">Biomechanical Phenomena</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName>
<QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName>
</MeshHeading>
</MeshHeadingList>
</MedlineCitation>
<PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2014</Year>
<Month>9</Month>
<Day>24</Day>
<Hour>6</Hour>
<Minute>0</Minute>
</PubMedPubDate>
<PubMedPubDate PubStatus="pubmed"><Year>2014</Year>
<Month>9</Month>
<Day>24</Day>
<Hour>6</Hour>
<Minute>0</Minute>
</PubMedPubDate>
<PubMedPubDate PubStatus="medline"><Year>2015</Year>
<Month>11</Month>
<Day>11</Day>
<Hour>6</Hour>
<Minute>0</Minute>
</PubMedPubDate>
</History>
<PublicationStatus>ppublish</PublicationStatus>
<ArticleIdList><ArticleId IdType="doi">10.1109/TOH.2014.2305437</ArticleId>
<ArticleId IdType="pubmed">25248168</ArticleId>
</ArticleIdList>
</PubmedData>
</pubmed>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PubMed/Corpus
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000545 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PubMed/Corpus/biblio.hfd -nk 000545 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= PubMed |étape= Corpus |type= RBID |clé= pubmed:25248168 |texte= L2 -stability of haptic systems with projection-based force reflection. }}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/PubMed/Corpus/RBID.i -Sk "pubmed:25248168" \ | HfdSelect -Kh $EXPLOR_AREA/Data/PubMed/Corpus/biblio.hfd \ | NlmPubMed2Wicri -a HapticV1
This area was generated with Dilib version V0.6.23. |