HapticV1, PascalFrancis, Corpus, bibRecord, 000E24

Effects of position quantization and sampling rate on virtual-wall passivity

Identifieur interne : 000E24 ( PascalFrancis/Corpus ); précédent : 000E23; suivant : 000E25

Effects of position quantization and sampling rate on virtual-wall passivity

Auteurs : Jake J. Abbott ; Allison M. Okamura

Source :

IEEE transactions on robotics [ 1552-3098 ] ; 2005.

RBID : Pascal:06-0035331

Descripteurs français

Pascal (Inist)
- Passivité, Commande force, Homme, Sensibilité tactile, Réalité virtuelle, Unilatéral, Capteur mesure, Interface utilisateur, Frottement sec, Frottement visqueux, Capteur optique, Mesure optique, Mesure position, Quantification, Taux échantillonnage, Modélisation, Borne supérieure, Instabilité.

English descriptors

KwdEn :
- Dry friction, Force control, Human, Instability, Measurement sensor, Modeling, Optical measurement, Optical sensor, Passivity, Position measurement, Quantization, Sampling rate, Tactile sensitivity, Unilateral, Upper bound, User interface, Virtual reality, Viscous friction.

Abstract

The "virtual wall" is the most common building block used in constructing haptic virtual environments. A virtual wall is typically based on a simple spring model, with unilateral constraints that allow the user to make and break contact with a surface. There are a number of factors (sample-and-hold, device dynamics, sensor quantization, etc.) that cause virtual walls to demonstrate active (nonpassive) behavior, destroying the illusion of reality. In this paper, we find an explicit upper bound on virtual wall stiffness that is a necessary and sufficient condition for virtual wall passivity. We consider a haptic display that can be modeled as a mass with Coulomb-plus-viscous friction, being acted upon by two external forces: an actuator and a human user. The system is equipped with only one sensor, an optical encoder measuring the position of the mass. We explicitly model the effects of position resolution, which has not been done in previous work. We make no assumptions about the human user, and we consider arbitrary constant sampling rates. The main result of our analysis is a necessary and sufficient condition for passivity that relies on the Coulomb friction in the haptic device, as well as the encoder resolution. We experimentally verify our results with a one-degree-of-freedom haptic display, and find that the system can display nonpassive behavior in two decoupled modes that are predicted by the necessary and sufficient condition. One mode represents instability, while the other mode results in active tactile sensations.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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Format Inist (serveur)

NO :	PASCAL 06-0035331 CRAN
ET :	Effects of position quantization and sampling rate on virtual-wall passivity
AU :	ABBOTT (Jake J.); OKAMURA (Allison M.)
AF :	Department of Mechanical Engineering, The Johns Hopkins University/Baltimore, MD 21218/Etats-Unis (1 aut., 2 aut.)
DT :	Publication en série; Niveau analytique
SO :	IEEE transactions on robotics; ISSN 1552-3098; Etats-Unis; Da. 2005; Vol. 21; No. 5; Pp. 952-964; Bibl. 29 ref.
LA :	Anglais
EA :	The "virtual wall" is the most common building block used in constructing haptic virtual environments. A virtual wall is typically based on a simple spring model, with unilateral constraints that allow the user to make and break contact with a surface. There are a number of factors (sample-and-hold, device dynamics, sensor quantization, etc.) that cause virtual walls to demonstrate active (nonpassive) behavior, destroying the illusion of reality. In this paper, we find an explicit upper bound on virtual wall stiffness that is a necessary and sufficient condition for virtual wall passivity. We consider a haptic display that can be modeled as a mass with Coulomb-plus-viscous friction, being acted upon by two external forces: an actuator and a human user. The system is equipped with only one sensor, an optical encoder measuring the position of the mass. We explicitly model the effects of position resolution, which has not been done in previous work. We make no assumptions about the human user, and we consider arbitrary constant sampling rates. The main result of our analysis is a necessary and sufficient condition for passivity that relies on the Coulomb friction in the haptic device, as well as the encoder resolution. We experimentally verify our results with a one-degree-of-freedom haptic display, and find that the system can display nonpassive behavior in two decoupled modes that are predicted by the necessary and sufficient condition. One mode represents instability, while the other mode results in active tactile sensations.
CC :	001D02D01
FD :	Passivité; Commande force; Homme; Sensibilité tactile; Réalité virtuelle; Unilatéral; Capteur mesure; Interface utilisateur; Frottement sec; Frottement visqueux; Capteur optique; Mesure optique; Mesure position; Quantification; Taux échantillonnage; Modélisation; Borne supérieure; Instabilité
ED :	Passivity; Force control; Human; Tactile sensitivity; Virtual reality; Unilateral; Measurement sensor; User interface; Dry friction; Viscous friction; Optical sensor; Optical measurement; Position measurement; Quantization; Sampling rate; Modeling; Upper bound; Instability
SD :	Pasividad; Control fuerza; Hombre; Sensibilidad tactil; Realidad virtual; Unilateral; Captador medida; Interfase usuario; Frotamiento seco; Frotamiento viscoso; Captador óptico; Medida óptica; Medición posición; Cuantificación; Razón muestreo; Modelización; Cota superior; Inestabilidad
LO :	INIST-21023A.354000132716150150
ID :	06-0035331

Links to Exploration step

Pascal:06-0035331

Le document en format XML

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<front><div type="abstract" xml:lang="en">The "virtual wall" is the most common building block used in constructing haptic virtual environments. A virtual wall is typically based on a simple spring model, with unilateral constraints that allow the user to make and break contact with a surface. There are a number of factors (sample-and-hold, device dynamics, sensor quantization, etc.) that cause virtual walls to demonstrate active (nonpassive) behavior, destroying the illusion of reality. In this paper, we find an explicit upper bound on virtual wall stiffness that is a necessary and sufficient condition for virtual wall passivity. We consider a haptic display that can be modeled as a mass with Coulomb-plus-viscous friction, being acted upon by two external forces: an actuator and a human user. The system is equipped with only one sensor, an optical encoder measuring the position of the mass. We explicitly model the effects of position resolution, which has not been done in previous work. We make no assumptions about the human user, and we consider arbitrary constant sampling rates. The main result of our analysis is a necessary and sufficient condition for passivity that relies on the Coulomb friction in the haptic device, as well as the encoder resolution. We experimentally verify our results with a one-degree-of-freedom haptic display, and find that the system can display nonpassive behavior in two decoupled modes that are predicted by the necessary and sufficient condition. One mode represents instability, while the other mode results in active tactile sensations.</div>
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<s5>19</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Medida óptica</s0>
<s5>19</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Mesure position</s0>
<s5>20</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Position measurement</s0>
<s5>20</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Medición posición</s0>
<s5>20</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Quantification</s0>
<s5>21</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Quantization</s0>
<s5>21</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Cuantificación</s0>
<s5>21</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Taux échantillonnage</s0>
<s5>22</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Sampling rate</s0>
<s5>22</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Razón muestreo</s0>
<s5>22</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Modélisation</s0>
<s5>23</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Modeling</s0>
<s5>23</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Modelización</s0>
<s5>23</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Borne supérieure</s0>
<s5>24</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Upper bound</s0>
<s5>24</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Cota superior</s0>
<s5>24</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Instabilité</s0>
<s5>31</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>Instability</s0>
<s5>31</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Inestabilidad</s0>
<s5>31</s5>
</fC03>
<fN21><s1>009</s1>
</fN21>
<fN44 i1="01"><s1>PSI</s1>
</fN44>
<fN82><s1>PSI</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 06-0035331 CRAN</NO>
<ET>Effects of position quantization and sampling rate on virtual-wall passivity</ET>
<AU>ABBOTT (Jake J.); OKAMURA (Allison M.)</AU>
<AF>Department of Mechanical Engineering, The Johns Hopkins University/Baltimore, MD 21218/Etats-Unis (1 aut., 2 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>IEEE transactions on robotics; ISSN 1552-3098; Etats-Unis; Da. 2005; Vol. 21; No. 5; Pp. 952-964; Bibl. 29 ref.</SO>
<LA>Anglais</LA>
<EA>The "virtual wall" is the most common building block used in constructing haptic virtual environments. A virtual wall is typically based on a simple spring model, with unilateral constraints that allow the user to make and break contact with a surface. There are a number of factors (sample-and-hold, device dynamics, sensor quantization, etc.) that cause virtual walls to demonstrate active (nonpassive) behavior, destroying the illusion of reality. In this paper, we find an explicit upper bound on virtual wall stiffness that is a necessary and sufficient condition for virtual wall passivity. We consider a haptic display that can be modeled as a mass with Coulomb-plus-viscous friction, being acted upon by two external forces: an actuator and a human user. The system is equipped with only one sensor, an optical encoder measuring the position of the mass. We explicitly model the effects of position resolution, which has not been done in previous work. We make no assumptions about the human user, and we consider arbitrary constant sampling rates. The main result of our analysis is a necessary and sufficient condition for passivity that relies on the Coulomb friction in the haptic device, as well as the encoder resolution. We experimentally verify our results with a one-degree-of-freedom haptic display, and find that the system can display nonpassive behavior in two decoupled modes that are predicted by the necessary and sufficient condition. One mode represents instability, while the other mode results in active tactile sensations.</EA>
<CC>001D02D01</CC>
<FD>Passivité; Commande force; Homme; Sensibilité tactile; Réalité virtuelle; Unilatéral; Capteur mesure; Interface utilisateur; Frottement sec; Frottement visqueux; Capteur optique; Mesure optique; Mesure position; Quantification; Taux échantillonnage; Modélisation; Borne supérieure; Instabilité</FD>
<ED>Passivity; Force control; Human; Tactile sensitivity; Virtual reality; Unilateral; Measurement sensor; User interface; Dry friction; Viscous friction; Optical sensor; Optical measurement; Position measurement; Quantization; Sampling rate; Modeling; Upper bound; Instability</ED>
<SD>Pasividad; Control fuerza; Hombre; Sensibilidad tactil; Realidad virtual; Unilateral; Captador medida; Interfase usuario; Frotamiento seco; Frotamiento viscoso; Captador óptico; Medida óptica; Medición posición; Cuantificación; Razón muestreo; Modelización; Cota superior; Inestabilidad</SD>
<LO>INIST-21023A.354000132716150150</LO>
<ID>06-0035331</ID>
</server>
</inist>
</record>

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Effects of position quantization and sampling rate on virtual-wall passivity

Effects of position quantization and sampling rate on virtual-wall passivity

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