HapticV1, PascalFrancis, Corpus, bibRecord, 000C61

Stable haptic interaction control using energy bounding algorithm

Identifieur interne : 000C61 ( PascalFrancis/Corpus ); précédent : 000C60; suivant : 000C62

Stable haptic interaction control using energy bounding algorithm

Auteurs : Jong-Phil Kim ; Jeha Ryu

Source :

RBID : Pascal:06-0453720

Descripteurs français

Pascal (Inist)
- Programme commande, Synthèse commande, Passivité, Système échantillonné, Interface utilisateur, Sensibilité tactile, Endommagement, Opérateur humain, Réalité virtuelle, Fréquence échantillonnage.

English descriptors

KwdEn :
- Control program, Control synthesis, Damaging, Human operator, Passivity, Sampled system, Sampling frequency, Tactile sensitivity, User interface, Virtual reality.

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 Stable haptic interaction control using energy bounding algorithm`
A09	`01`	`1`	`ENG`	`@1 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 28 September - 2 October, 2004, Sendai, Japan : proceedings`
A11	`01`	`1`		`@1 KIM (Jong-Phil)`
A11	`02`	`1`		`@1 RYU (Jeha)`
A14	`01`			`@1 HuManCom Lab. Department of Mechabonics Gwang-Ju Institute of Science and Technology @2 Gwangju @3 KOR @Z 1 aut. @Z 2 aut.`
A18	`01`	`1`		`@1 Institute of Electrical and Electronics Engineers @3 USA @9 org-cong.`
A18	`02`	`1`		`@1 Robotics Society of Japan @3 JPN @9 org-cong.`
A18	`03`	`1`		`@1 IEEE Robotics and Automation Society @3 USA @9 org-cong.`
A20				`@2 vol 2, 1210-1217`
A21				`@1 2004`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-8463-6`
A30	`01`	`1`	`ENG`	`@1 IEEE/RSJ International Conference on Intelligent Robots and Systems @3 Sendai JPN @4 2004`
A43	`01`			`@1 INIST @2 Y 38917 @5 354000153490961970`
A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
A45				`@0 11 ref.`
A47	`01`	`1`		`@0 06-0453720`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 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.
C02	`01`	`X`		`@0 001D02D07`
C03	`01`	`X`	`FRE`	`@0 Programme commande @5 06`
C03	`01`	`X`	`ENG`	`@0 Control program @5 06`
C03	`01`	`X`	`SPA`	`@0 Programa mando @5 06`
C03	`02`	`X`	`FRE`	`@0 Synthèse commande @5 07`
C03	`02`	`X`	`ENG`	`@0 Control synthesis @5 07`
C03	`02`	`X`	`SPA`	`@0 Síntesis control @5 07`
C03	`03`	`X`	`FRE`	`@0 Passivité @5 08`
C03	`03`	`X`	`ENG`	`@0 Passivity @5 08`
C03	`03`	`X`	`SPA`	`@0 Pasividad @5 08`
C03	`04`	`X`	`FRE`	`@0 Système échantillonné @5 09`
C03	`04`	`X`	`ENG`	`@0 Sampled system @5 09`
C03	`04`	`X`	`SPA`	`@0 Sistema muestreado @5 09`
C03	`05`	`X`	`FRE`	`@0 Interface utilisateur @5 18`
C03	`05`	`X`	`ENG`	`@0 User interface @5 18`
C03	`05`	`X`	`SPA`	`@0 Interfase usuario @5 18`
C03	`06`	`X`	`FRE`	`@0 Sensibilité tactile @5 19`
C03	`06`	`X`	`ENG`	`@0 Tactile sensitivity @5 19`
C03	`06`	`X`	`SPA`	`@0 Sensibilidad tactil @5 19`
C03	`07`	`X`	`FRE`	`@0 Endommagement @5 20`
C03	`07`	`X`	`ENG`	`@0 Damaging @5 20`
C03	`07`	`X`	`SPA`	`@0 Deterioración @5 20`
C03	`08`	`X`	`FRE`	`@0 Opérateur humain @5 21`
C03	`08`	`X`	`ENG`	`@0 Human operator @5 21`
C03	`08`	`X`	`SPA`	`@0 Operador humano @5 21`
C03	`09`	`X`	`FRE`	`@0 Réalité virtuelle @5 22`
C03	`09`	`X`	`ENG`	`@0 Virtual reality @5 22`
C03	`09`	`X`	`SPA`	`@0 Realidad virtual @5 22`
C03	`10`	`X`	`FRE`	`@0 Fréquence échantillonnage @5 23`
C03	`10`	`X`	`ENG`	`@0 Sampling frequency @5 23`
C03	`10`	`X`	`SPA`	`@0 Frecuencia muestreo @5 23`
N21				`@1 303`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 06-0453720 INIST
ET :	Stable haptic interaction control using energy bounding algorithm
AU :	KIM (Jong-Phil); RYU (Jeha)
AF :	HuManCom Lab. Department of Mechabonics Gwang-Ju Institute of Science and Technology/Gwangju/Corée, République de (1 aut., 2 aut.)
DT :	Congrès; Niveau analytique
SO :	IEEE/RSJ International Conference on Intelligent Robots and Systems/2004/Sendai JPN; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; vol 2, 1210-1217; ISBN 0-7803-8463-6
LA :	Anglais
EA :	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.
CC :	001D02D07
FD :	Programme commande; Synthèse commande; Passivité; Système échantillonné; Interface utilisateur; Sensibilité tactile; Endommagement; Opérateur humain; Réalité virtuelle; Fréquence échantillonnage
ED :	Control program; Control synthesis; Passivity; Sampled system; User interface; Tactile sensitivity; Damaging; Human operator; Virtual reality; Sampling frequency
SD :	Programa mando; Síntesis control; Pasividad; Sistema muestreado; Interfase usuario; Sensibilidad tactil; Deterioración; Operador humano; Realidad virtual; Frecuencia muestreo
LO :	INIST-Y 38917.354000153490961970
ID :	06-0453720

Links to Exploration step

Pascal:06-0453720

Le document en format XML

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<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>
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<ET>Stable haptic interaction control using energy bounding algorithm</ET>
<AU>KIM (Jong-Phil); RYU (Jeha)</AU>
<AF>HuManCom Lab. Department of Mechabonics Gwang-Ju Institute of Science and Technology/Gwangju/Corée, République de (1 aut., 2 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
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<LA>Anglais</LA>
<EA>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.</EA>
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Stable haptic interaction control using energy bounding algorithm

Stable haptic interaction control using energy bounding algorithm

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Descripteurs français

English descriptors

Abstract

Notice en format standard (ISO 2709)

Format Inist (serveur)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri