HapticV1, PascalFrancis, Corpus, bibRecord, 001429

Guaranteed stability of haptic systems with nonlinear virtual environments

Identifieur interne : 001429 ( PascalFrancis/Corpus ); précédent : 001428; suivant : 001430

Guaranteed stability of haptic systems with nonlinear virtual environments

Auteurs : B. E. Miller ; J. E. Colgate ; R. A. Freeman

Source :

IEEE Transactions on Robotics and Automation [ 1042-296X ] ; 2000.

RBID : Pascal:01-0113248

Descripteurs français

Pascal (Inist)
- Théorie, Réalité virtuelle, Interface haptique, Système commande discret, Oscillation, Rigidité, Echantillonnage, Relation homme machine.

English descriptors

KwdEn :
- Discrete time control systems, Haptic interfaces, Human computer interaction, Nonlinear virtual environments, Oscillations, Sampling, Stiffness, Theory, Virtual reality.

Abstract

Design of haptic systems that guarantee stable interaction is a challenging task. Virtual environments are typically highly nonlinear - resulting in a nonpassive discrete-time model. This paper will investigate how nonlinear mass/spring/damper virtual environments can be designed to guarantee the absence of oscillations and other chaotic behavior in the signal presented to the human operator. In particular, delayed and nondelayed implementation of the mass/spring/damper virtual environment is considered, revealing a nonintuitive result with regard to the allowable local stiffness.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A11	`03`	`1`		`@1 FREEMAN (R. A.)`
A14	`01`			`@1 Computer Motion Inc @2 Goleta CA @3 USA @Z 1 aut.`
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C01	`01`		`ENG`	@0 Design of haptic systems that guarantee stable interaction is a challenging task. Virtual environments are typically highly nonlinear - resulting in a nonpassive discrete-time model. This paper will investigate how nonlinear mass/spring/damper virtual environments can be designed to guarantee the absence of oscillations and other chaotic behavior in the signal presented to the human operator. In particular, delayed and nondelayed implementation of the mass/spring/damper virtual environment is considered, revealing a nonintuitive result with regard to the allowable local stiffness.
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C03	`09`	`1`	`FRE`	`@0 Relation homme machine @3 P`
C03	`09`	`1`	`ENG`	`@0 Human computer interaction @3 P`
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Format Inist (serveur)

NO :	PASCAL 01-0113248 EI
ET :	Guaranteed stability of haptic systems with nonlinear virtual environments
AU :	MILLER (B. E.); COLGATE (J. E.); FREEMAN (R. A.)
AF :	Computer Motion Inc/Goleta CA/Etats-Unis (1 aut.)
DT :	Publication en série; Niveau analytique
SO :	IEEE Transactions on Robotics and Automation; ISSN 1042-296X; Coden IRAUEZ; Etats-Unis; Da. 2000; Vol. 16; No. 6; Pp. 712-719; Bibl. 19 Refs.
LA :	Anglais
EA :	Design of haptic systems that guarantee stable interaction is a challenging task. Virtual environments are typically highly nonlinear - resulting in a nonpassive discrete-time model. This paper will investigate how nonlinear mass/spring/damper virtual environments can be designed to guarantee the absence of oscillations and other chaotic behavior in the signal presented to the human operator. In particular, delayed and nondelayed implementation of the mass/spring/damper virtual environment is considered, revealing a nonintuitive result with regard to the allowable local stiffness.
CC :	001D03J03; 001D02B; 001D02D; 001B00C40; 001A02H01
FD :	Théorie; Réalité virtuelle; Interface haptique; Système commande discret; Oscillation; Rigidité; Echantillonnage; Relation homme machine
ED :	Nonlinear virtual environments; Theory; Virtual reality; Haptic interfaces; Discrete time control systems; Oscillations; Stiffness; Sampling; Human computer interaction
SD :	Rigidez
LO :	INIST-21023
ID :	01-0113248

Links to Exploration step

Pascal:01-0113248

Le document en format XML

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<front><div type="abstract" xml:lang="en">Design of haptic systems that guarantee stable interaction is a challenging  task. Virtual environments are typically highly nonlinear - resulting in a nonpassive discrete-time model. This paper will investigate how nonlinear mass/spring/damper virtual environments can be designed to guarantee the absence of oscillations and other chaotic behavior in the signal presented to the human operator. In particular, delayed and nondelayed implementation of the mass/spring/damper virtual environment is considered, revealing a nonintuitive result with regard to the allowable local stiffness.</div>
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Guaranteed stability of haptic systems with nonlinear virtual environments

Guaranteed stability of haptic systems with nonlinear virtual environments

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