HapticV1, PascalFrancis, Corpus, bibRecord, 000783

Stability Boundary for Haptic Rendering : Influence of Damping and Delay

Identifieur interne : 000783 ( PascalFrancis/Corpus ); précédent : 000782; suivant : 000784

Stability Boundary for Haptic Rendering : Influence of Damping and Delay

Auteurs : Jorge Juan Gil ; Emilio Sanchez ; Thomas Hulin ; Carsten Preusche ; Gerd Hirzinger

Source :

Journal of computing and information science in engineering [ 1530-9827 ] ; 2009.

RBID : Pascal:09-0231101

Descripteurs français

Pascal (Inist)
- Retard, Robotique, Interface utilisateur, Sensibilité tactile, Régime linéaire, Fréquence échantillonnage, Basse fréquence, Aéronautique, Système à retard, Maintenabilité.

English descriptors

KwdEn :
- Aeronautics, Delay, Delay system, Linear condition, Low frequency, Maintainability, Robotics, Sampling frequency, Tactile sensitivity, User interface.

Abstract

The influence of viscous damping and delay on the stability of haptic systems is studied in this paper. The stability boundaries have been found by means of different approaches. Although the shape of these stability boundaries is quite complex, a new linear condition, which summarizes the relation between virtual stiffness, viscous damping, and delay, is proposed under certain assumptions. These assumptions include a linear system, short delays, fast sampling frequency, and relatively low physical and virtual damping. The theoretical results presented in this paper are supported by simulations and experimental data using the DLR light-weight robot and the large haptic interface for aeronautic maintainability (LHIfAM).

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A02	`01`			`@0 JCISB6`
A03		`1`		`@0 J. comput. inf. sci. eng.`
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A08	`01`	`1`	`ENG`	`@1 Stability Boundary for Haptic Rendering : Influence of Damping and Delay`
A09	`01`	`1`	`ENG`	`@1 Special Issue on Haptics, Tactile and Multimodal Interfaces`
A11	`01`	`1`		`@1 GIL (Jorge Juan)`
A11	`02`	`1`		`@1 SANCHEZ (Emilio)`
A11	`03`	`1`		`@1 HULIN (Thomas)`
A11	`04`	`1`		`@1 PREUSCHE (Carsten)`
A11	`05`	`1`		`@1 HIRZINGER (Gerd)`
A12	`01`	`1`		`@1 KESAVADAS (Thenkurussi) @9 ed.`
A12	`02`	`1`		`@1 O'MALLEY (Marcia) @9 ed.`
A12	`03`	`1`		`@1 OLIVER (James) @9 ed.`
A14	`01`			`@1 Department of Applied Mechanics, CEIT and TECNUN, University of Navarra @2 San Sebastián 20018 @3 ESP @Z 1 aut. @Z 2 aut.`
A14	`02`			`@1 Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen @2 We<ss>ling 82234 @3 DEU @Z 3 aut. @Z 4 aut. @Z 5 aut.`
A15	`01`			`@1 Virtual Reality Laboratory, State University of New York @2 Buffalo, NY 14216 @3 USA @Z 1 aut.`
A15	`02`			`@1 Department of Mechanical Engineering and Materials Science, Rice University @2 Houston, TX 77005 @3 USA @Z 2 aut.`
A15	`03`			`@1 Department of Mechanical Engineering, Virtual Reality Applications Center, Iowa State University @2 Ames, IA 50010 @3 USA @Z 3 aut.`
A20				`@2 011005.1-011005.8`
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A44				`@0 0000 @1 © 2009 INIST-CNRS. All rights reserved.`
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A47	`01`	`1`		`@0 09-0231101`
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A64	`01`	`1`		`@0 Journal of computing and information science in engineering`
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C01	`01`		`ENG`	@0 The influence of viscous damping and delay on the stability of haptic systems is studied in this paper. The stability boundaries have been found by means of different approaches. Although the shape of these stability boundaries is quite complex, a new linear condition, which summarizes the relation between virtual stiffness, viscous damping, and delay, is proposed under certain assumptions. These assumptions include a linear system, short delays, fast sampling frequency, and relatively low physical and virtual damping. The theoretical results presented in this paper are supported by simulations and experimental data using the DLR light-weight robot and the large haptic interface for aeronautic maintainability (LHIfAM).
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C03	`01`	`X`	`ENG`	`@0 Delay @5 06`
C03	`01`	`X`	`SPA`	`@0 Retraso @5 06`
C03	`02`	`X`	`FRE`	`@0 Robotique @5 07`
C03	`02`	`X`	`ENG`	`@0 Robotics @5 07`
C03	`02`	`X`	`SPA`	`@0 Robótica @5 07`
C03	`03`	`X`	`FRE`	`@0 Interface utilisateur @5 08`
C03	`03`	`X`	`ENG`	`@0 User interface @5 08`
C03	`03`	`X`	`SPA`	`@0 Interfase usuario @5 08`
C03	`04`	`X`	`FRE`	`@0 Sensibilité tactile @5 18`
C03	`04`	`X`	`ENG`	`@0 Tactile sensitivity @5 18`
C03	`04`	`X`	`SPA`	`@0 Sensibilidad tactil @5 18`
C03	`05`	`X`	`FRE`	`@0 Régime linéaire @5 19`
C03	`05`	`X`	`ENG`	`@0 Linear condition @5 19`
C03	`05`	`X`	`SPA`	`@0 Régimen lineal @5 19`
C03	`06`	`X`	`FRE`	`@0 Fréquence échantillonnage @5 20`
C03	`06`	`X`	`ENG`	`@0 Sampling frequency @5 20`
C03	`06`	`X`	`SPA`	`@0 Frecuencia muestreo @5 20`
C03	`07`	`X`	`FRE`	`@0 Basse fréquence @5 21`
C03	`07`	`X`	`ENG`	`@0 Low frequency @5 21`
C03	`07`	`X`	`SPA`	`@0 Baja frecuencia @5 21`
C03	`08`	`X`	`FRE`	`@0 Aéronautique @5 22`
C03	`08`	`X`	`ENG`	`@0 Aeronautics @5 22`
C03	`08`	`X`	`SPA`	`@0 Aeronáutica @5 22`
C03	`09`	`X`	`FRE`	`@0 Système à retard @5 23`
C03	`09`	`X`	`ENG`	`@0 Delay system @5 23`
C03	`09`	`X`	`SPA`	`@0 Sistema con retardo @5 23`
C03	`10`	`X`	`FRE`	`@0 Maintenabilité @5 24`
C03	`10`	`X`	`ENG`	`@0 Maintainability @5 24`
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Format Inist (serveur)

NO :	PASCAL 09-0231101 INIST
ET :	Stability Boundary for Haptic Rendering : Influence of Damping and Delay
AU :	GIL (Jorge Juan); SANCHEZ (Emilio); HULIN (Thomas); PREUSCHE (Carsten); HIRZINGER (Gerd); KESAVADAS (Thenkurussi); O'MALLEY (Marcia); OLIVER (James)
AF :	Department of Applied Mechanics, CEIT and TECNUN, University of Navarra/San Sebastián 20018/Espagne (1 aut., 2 aut.); Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen/We<ss>ling 82234/Allemagne (3 aut., 4 aut., 5 aut.); Virtual Reality Laboratory, State University of New York/Buffalo, NY 14216/Etats-Unis (1 aut.); Department of Mechanical Engineering and Materials Science, Rice University/Houston, TX 77005/Etats-Unis (2 aut.); Department of Mechanical Engineering, Virtual Reality Applications Center, Iowa State University/Ames, IA 50010/Etats-Unis (3 aut.)
DT :	Publication en série; Papier de recherche; Niveau analytique
SO :	Journal of computing and information science in engineering; ISSN 1530-9827; Coden JCISB6; Etats-Unis; Da. 2009; Vol. 9; No. 1; 011005.1-011005.8; Bibl. 26 ref.
LA :	Anglais
EA :	The influence of viscous damping and delay on the stability of haptic systems is studied in this paper. The stability boundaries have been found by means of different approaches. Although the shape of these stability boundaries is quite complex, a new linear condition, which summarizes the relation between virtual stiffness, viscous damping, and delay, is proposed under certain assumptions. These assumptions include a linear system, short delays, fast sampling frequency, and relatively low physical and virtual damping. The theoretical results presented in this paper are supported by simulations and experimental data using the DLR light-weight robot and the large haptic interface for aeronautic maintainability (LHIfAM).
CC :	001D02B04; 001D02D11; 001D02B11
FD :	Retard; Robotique; Interface utilisateur; Sensibilité tactile; Régime linéaire; Fréquence échantillonnage; Basse fréquence; Aéronautique; Système à retard; Maintenabilité
ED :	Delay; Robotics; User interface; Tactile sensitivity; Linear condition; Sampling frequency; Low frequency; Aeronautics; Delay system; Maintainability
SD :	Retraso; Robótica; Interfase usuario; Sensibilidad tactil; Régimen lineal; Frecuencia muestreo; Baja frecuencia; Aeronáutica; Sistema con retardo; Mantenimientabilidad
LO :	INIST-6120Q.354000186766360050
ID :	09-0231101

Links to Exploration step

Pascal:09-0231101

Le document en format XML

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<front><div type="abstract" xml:lang="en">The influence of viscous damping and delay on the stability of haptic systems is studied in this paper. The stability boundaries have been found by means of different approaches. Although the shape of these stability boundaries is quite complex, a new linear condition, which summarizes the relation between virtual stiffness, viscous damping, and delay, is proposed under certain assumptions. These assumptions include a linear system, short delays, fast sampling frequency, and relatively low physical and virtual damping. The theoretical results presented in this paper are supported by simulations and experimental data using the DLR light-weight robot and the large haptic interface for aeronautic maintainability (LHIfAM).</div>
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<fC03 i1="06" i2="X" l="FRE"><s0>Fréquence échantillonnage</s0>
<s5>20</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Sampling frequency</s0>
<s5>20</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Frecuencia muestreo</s0>
<s5>20</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Basse fréquence</s0>
<s5>21</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Low frequency</s0>
<s5>21</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Baja frecuencia</s0>
<s5>21</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Aéronautique</s0>
<s5>22</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Aeronautics</s0>
<s5>22</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Aeronáutica</s0>
<s5>22</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Système à retard</s0>
<s5>23</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Delay system</s0>
<s5>23</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Sistema con retardo</s0>
<s5>23</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Maintenabilité</s0>
<s5>24</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Maintainability</s0>
<s5>24</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Mantenimientabilidad</s0>
<s5>24</s5>
</fC03>
<fN21><s1>173</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 09-0231101 INIST</NO>
<ET>Stability Boundary for Haptic Rendering : Influence of Damping and Delay</ET>
<AU>GIL (Jorge Juan); SANCHEZ (Emilio); HULIN (Thomas); PREUSCHE (Carsten); HIRZINGER (Gerd); KESAVADAS (Thenkurussi); O'MALLEY (Marcia); OLIVER (James)</AU>
<AF>Department of Applied Mechanics, CEIT and TECNUN, University of Navarra/San Sebastián 20018/Espagne (1 aut., 2 aut.); Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen/Weling 82234/Allemagne (3 aut., 4 aut., 5 aut.); Virtual Reality Laboratory, State University of New York/Buffalo, NY 14216/Etats-Unis (1 aut.); Department of Mechanical Engineering and Materials Science, Rice University/Houston, TX 77005/Etats-Unis (2 aut.); Department of Mechanical Engineering, Virtual Reality Applications Center, Iowa State University/Ames, IA 50010/Etats-Unis (3 aut.)</AF>
<DT>Publication en série; Papier de recherche; Niveau analytique</DT>
<SO>Journal of computing and information science in engineering; ISSN 1530-9827; Coden JCISB6; Etats-Unis; Da. 2009; Vol. 9; No. 1; 011005.1-011005.8; Bibl. 26 ref.</SO>
<LA>Anglais</LA>
<EA>The influence of viscous damping and delay on the stability of haptic systems is studied in this paper. The stability boundaries have been found by means of different approaches. Although the shape of these stability boundaries is quite complex, a new linear condition, which summarizes the relation between virtual stiffness, viscous damping, and delay, is proposed under certain assumptions. These assumptions include a linear system, short delays, fast sampling frequency, and relatively low physical and virtual damping. The theoretical results presented in this paper are supported by simulations and experimental data using the DLR light-weight robot and the large haptic interface for aeronautic maintainability (LHIfAM).</EA>
<CC>001D02B04; 001D02D11; 001D02B11</CC>
<FD>Retard; Robotique; Interface utilisateur; Sensibilité tactile; Régime linéaire; Fréquence échantillonnage; Basse fréquence; Aéronautique; Système à retard; Maintenabilité</FD>
<ED>Delay; Robotics; User interface; Tactile sensitivity; Linear condition; Sampling frequency; Low frequency; Aeronautics; Delay system; Maintainability</ED>
<SD>Retraso; Robótica; Interfase usuario; Sensibilidad tactil; Régimen lineal; Frecuencia muestreo; Baja frecuencia; Aeronáutica; Sistema con retardo; Mantenimientabilidad</SD>
<LO>INIST-6120Q.354000186766360050</LO>
<ID>09-0231101</ID>
</server>
</inist>
</record>

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Stability Boundary for Haptic Rendering : Influence of Damping and Delay

Stability Boundary for Haptic Rendering : Influence of Damping and Delay

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