By Topic

Wave haptics: using motor dynamics for stiff coupling to virtual environments

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
$33 $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)
N. Diolaiti ; AI-Robotics Lab, Stanford Univ., CA ; G. Niemeyer

Traditional haptic rendering creates virtual springs using DC motors with current amplifiers and encoder-based position feedback. It is well known that the stiffness of virtual environments is limited by quantization, discretization, and amplifier bandwidth effects. In this paper we propose a novel control architecture that, rather than canceling motor electrical dynamics, uses them to achieve better performances. First we recognize that the inductance L provides a natural sensor-less stiff behavior at high frequencies. Second, electrical resistance R serves as the basis of a wave transform that, performed through an analog circuit, allows to build a more stable interface with virtual environments, achieving robustness to servo delays and discretization. Encoder feedback and digital control loop are required only to provide parametric robustness at low frequencies. A prototype 1-DOF system has been implemented and confirms the promise of this novel paradigm

Published in:

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

Date of Conference:

15-19 May 2006