HapticV1, PascalFrancis, Corpus, bibRecord, 001302

Control law design for haptic interfaces to virtual reality

Identifieur interne : 001302 ( PascalFrancis/Corpus ); précédent : 001301; suivant : 001303

Control law design for haptic interfaces to virtual reality

Auteurs : R. J. Adams ; B. Hannaford

Source :

IEEE Transactions on Control Systems Technology [ 1063-6536 ] ; 2002.

RBID : Pascal:02-0198454

Descripteurs français

Pascal (Inist)
- Théorie, Interface haptique, Réalité virtuelle, Stabilité système, Commande contre réaction, Relation homme machine, Actionneur, Degré liberté, Algèbre matricielle, Système commande, Expérience.

English descriptors

KwdEn :
- Actuators, Control systems, Degrees of freedom (mechanics), Experiments, Feedback control, Haptic displays, Haptic interfaces, Human computer interaction, Matrix algebra, System stability, Theory, Virtual reality.

Abstract

The goal of control law design for haptic displays is to provide a safe and stable user interface while maximizing the operator's sense of kinesthetic immersion in a virtual environment. This paper outlines a control design approach which stabilizes a haptic interface when coupled to a broad class of human operators and virtual environments. Two-port absolute stability criteria are used to develop explicit control law design bounds for two different haptic display implementations: impedance display and admittance display. The strengths and weaknesses of each approach are illustrated through numerical and experimental results for a three degree-of-freedom device. The example highlights the ability of the proposed design procedure to handle some of the more difficult problems in control law synthesis for haptics, including structural flexibility and noncollocation of sensors and actuators.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A11	`02`	`1`		`@1 HANNAFORD (B.)`
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C01	`01`		`ENG`	@0 The goal of control law design for haptic displays is to provide a safe and stable user interface while maximizing the operator's sense of kinesthetic immersion in a virtual environment. This paper outlines a control design approach which stabilizes a haptic interface when coupled to a broad class of human operators and virtual environments. Two-port absolute stability criteria are used to develop explicit control law design bounds for two different haptic display implementations: impedance display and admittance display. The strengths and weaknesses of each approach are illustrated through numerical and experimental results for a three degree-of-freedom device. The example highlights the ability of the proposed design procedure to handle some of the more difficult problems in control law synthesis for haptics, including structural flexibility and noncollocation of sensors and actuators.
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C03	`03`	`1`	`FRE`	`@0 Interface haptique`
C03	`03`	`1`	`ENG`	`@0 Haptic interfaces`
C03	`04`	`1`	`FRE`	`@0 Réalité virtuelle`
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Format Inist (serveur)

NO :	PASCAL 02-0198454 EI
ET :	Control law design for haptic interfaces to virtual reality
AU :	ADAMS (R. J.); HANNAFORD (B.)
AF :	Department of Electrical Engineering University of Washington/Seattle, WA 98195-2500/Etats-Unis (1 aut.)
DT :	Publication en série; Niveau analytique
SO :	IEEE Transactions on Control Systems Technology; ISSN 1063-6536; Etats-Unis; Da. 2002; Vol. 10; No. 1; Pp. 3-13; Bibl. 25 Refs.
LA :	Anglais
EA :	The goal of control law design for haptic displays is to provide a safe and stable user interface while maximizing the operator's sense of kinesthetic immersion in a virtual environment. This paper outlines a control design approach which stabilizes a haptic interface when coupled to a broad class of human operators and virtual environments. Two-port absolute stability criteria are used to develop explicit control law design bounds for two different haptic display implementations: impedance display and admittance display. The strengths and weaknesses of each approach are illustrated through numerical and experimental results for a three degree-of-freedom device. The example highlights the ability of the proposed design procedure to handle some of the more difficult problems in control law synthesis for haptics, including structural flexibility and noncollocation of sensors and actuators.
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FD :	Théorie; Interface haptique; Réalité virtuelle; Stabilité système; Commande contre réaction; Relation homme machine; Actionneur; Degré liberté; Algèbre matricielle; Système commande; Expérience
ED :	Haptic displays; Theory; Haptic interfaces; Virtual reality; System stability; Feedback control; Human computer interaction; Actuators; Degrees of freedom (mechanics); Matrix algebra; Control systems; Experiments
LO :	INIST-26265
ID :	02-0198454

Links to Exploration step

Pascal:02-0198454

Le document en format XML

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Control law design for haptic interfaces to virtual reality

Control law design for haptic interfaces to virtual reality

Source :

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