Stable haptic interaction control using energy bounding algorithm
Identifieur interne : 006F30 ( Main/Merge ); précédent : 006F29; suivant : 006F31Stable haptic interaction control using energy bounding algorithm
Auteurs : Jong-Phil Kim [Corée du Sud] ; Jeha Ryu [Corée du Sud]Source :
Descripteurs français
- Pascal (Inist)
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- topic : Réalité virtuelle.
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Abstract
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. The proposed energy bounding algorithm restricts the energy that is generated by the sample and hold within the energy consumable by the physical damping in a haptic device and makes the virtual environment and controller passive as well. This algorithm, therefore, guarantees the passivity condition of the haptic simulation regardless of sampling frequency. Experimental validation with a commercial haptic device has been presented.
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Pascal:06-0453720Le document en format XML
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Department of Mechabonics Gwang-Ju Institute of Science and Technology</s1><s2>Gwangju</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>HuManCom Lab. Department of Mechabonics Gwang-Ju Institute of Science and Technology</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">06-0453720</idno><date when="2004">2004</date><idno type="stanalyst">PASCAL 06-0453720 INIST</idno><idno type="RBID">Pascal:06-0453720</idno><idno type="wicri:Area/PascalFrancis/Corpus">000C61</idno><idno type="wicri:Area/PascalFrancis/Curation">000845</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000C08</idno><idno type="wicri:Area/Main/Merge">006F30</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Stable haptic interaction control using energy bounding algorithm</title><author><name sortKey="Kim, Jong Phil" sort="Kim, Jong Phil" uniqKey="Kim J" first="Jong-Phil" last="Kim">Jong-Phil Kim</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>HuManCom Lab. Department of Mechabonics Gwang-Ju Institute of Science and Technology</s1><s2>Gwangju</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>HuManCom Lab. Department of Mechabonics Gwang-Ju Institute of Science and Technology</wicri:noRegion></affiliation></author><author><name sortKey="Ryu, Jeha" sort="Ryu, Jeha" uniqKey="Ryu J" first="Jeha" last="Ryu">Jeha Ryu</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>HuManCom Lab. Department of Mechabonics Gwang-Ju Institute of Science and Technology</s1><s2>Gwangju</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>HuManCom Lab. Department of Mechabonics Gwang-Ju Institute of Science and Technology</wicri:noRegion></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Control program</term><term>Control synthesis</term><term>Damaging</term><term>Human operator</term><term>Passivity</term><term>Sampled system</term><term>Sampling frequency</term><term>Tactile sensitivity</term><term>User interface</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Programme commande</term><term>Synthèse commande</term><term>Passivité</term><term>Système échantillonné</term><term>Interface utilisateur</term><term>Sensibilité tactile</term><term>Endommagement</term><term>Opérateur humain</term><term>Réalité virtuelle</term><term>Fréquence échantillonnage</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Réalité virtuelle</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">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. The proposed energy bounding algorithm restricts the energy that is generated by the sample and hold within the energy consumable by the physical damping in a haptic device and makes the virtual environment and controller passive as well. This algorithm, therefore, guarantees the passivity condition of the haptic simulation regardless of sampling frequency. Experimental validation with a commercial haptic device has been presented.</div></front></TEI><affiliations><list><country><li>Corée du Sud</li></country></list><tree><country name="Corée du Sud"><noRegion><name sortKey="Kim, Jong Phil" sort="Kim, Jong Phil" uniqKey="Kim J" first="Jong-Phil" last="Kim">Jong-Phil Kim</name></noRegion><name sortKey="Ryu, Jeha" sort="Ryu, Jeha" uniqKey="Ryu J" first="Jeha" last="Ryu">Jeha Ryu</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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