Velocity estimation algorithms for audio-haptic simulations involving stick-slip.
Identifieur interne : 000573 ( PubMed/Curation ); précédent : 000572; suivant : 000574Velocity estimation algorithms for audio-haptic simulations involving stick-slip.
Auteurs : Stephen Sinclair ; Marcelo M. Wanderley ; Vincent HaywardSource :
- IEEE transactions on haptics [ 2329-4051 ]
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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
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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></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><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">25122594</PMID><DateCreated><Year>2014</Year><Month>12</Month><Day>23</Day></DateCreated><DateCompleted><Year>2015</Year><Month>11</Month><Day>09</Day></DateCompleted><Article PubModel="Print-Electronic"><Journal><ISSN IssnType="Electronic">2329-4051</ISSN><JournalIssue CitedMedium="Internet"><Volume>7</Volume><Issue>4</Issue><PubDate><MedlineDate>2014 Oct-Dec</MedlineDate></PubDate></JournalIssue><Title>IEEE transactions on haptics</Title><ISOAbbreviation>IEEE Trans Haptics</ISOAbbreviation></Journal><ArticleTitle>Velocity estimation algorithms for audio-haptic simulations involving stick-slip.</ArticleTitle><Pagination><MedlinePgn>533-44</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1109/TOH.2014.2346505</ELocationID><Abstract><AbstractText>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. 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