By Topic

Real-time haptic rendering using multi-rate output-estimation with ARMAX model

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)
Kyungno Lee ; Department of Mechanical Engineering, KAIST, Daejeon, Korea ; Doo Yong Lee

This paper presents multi-rate output-estimation using an auto-regressive-moving-average with exogenous variable (ARMAX) model for real-time haptic rendering. In medical simulation, physics-based simulation of the organs and tissues including cutting and suturing is necessary for high-fidelity visual and haptic interaction. A deformation model based on a finite-element model or a mass-spring model is frequently used, which incurs heavy computational burden and time delay. Reflective force cannot be computed at 1 kHz because of the heavy computational overhead. This problem is resolved by employing a multi-rate output-estimation using ARMAX model that improves the original version of the multi-rate output-estimation with P-matrix resetting. High-fidelity reflective force is computed from the estimated input-output model at 1 kHz and the performance is evaluated with simulation.

Published in:

Control, Automation and Systems, 2007. ICCAS '07. International Conference on

Date of Conference:

17-20 Oct. 2007