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

Haptic Interface using Delayed Reflection Wave: Application to a Passive Haptic Device

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

5 Author(s)
Jae-Hyeong Lee ; Dept. of Mechanical Engineering Korea University Anam-dong, Seongbuk-gu, Seoul, 136-701, Korea quarky@korea.ac.kr ; Chang-hyun Cho ; Jae-Bok Song ; Chang-Soon Hwang
more authors

It is well known that the wave variables are robust to time delay of a system from the viewpoint of passivity. During implementation of the wave transformation on the sampled-data system, a unit time delay arises due to causality of the reflection wave. The unit time delay on the reflection wave occasionally becomes a passive element. From the passivity condition of the sampled-data system, the wave impedance can be designed such that the wave transformation using delayed reflection provides the effect of positive damping and thus the stable haptic interface is achieved on the sampled-data system. Various experiments for a 2-linked passive haptic device show that stable haptic interface can be accomplished for the wall-following task by use of the wave transformation using delayed reflection.

Published in:

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Date of Conference:

18-22 April 2005

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.