Cart (Loading....) | Create Account
Close category search window
 

Haptic Interaction Stability With Respect to Grasp Force

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Podobnik, J. ; Univ. of Ljubljana, Ljubljana ; Munih, M.

This paper addresses the contact instability of admittance control of a haptic interface. A high level of rigidity of the grasp of a subject operating the haptic interface will result in unstable behavior of the haptic interaction. Experiments with a system dedicated to measuring grasp force were performed to explore the conditions when grasp force has reached the critical grasp force that destabilizes the haptic interface. The critical grasp force was quantified for various values of virtual environment parameters. The experimental results are compared to simulation results obtained with a model of haptic interaction. To improve stability, two methods were applied: one with virtual coupling, the other with a compensator filter. A model was used to define the structure of the compensator filter and to determine the parameters of the virtual coupling and the compensator filter. Experimental and simulation results confirmed an improvement of stability. Both methods allow higher grasp forces of the human operator, and experiments show that the compensator filter allows higher grasp forces than the virtual coupling.

Published in:

Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on  (Volume:37 ,  Issue: 6 )

Date of Publication:

Nov. 2007

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.