By Topic

Performance of equivalent frequency-dependent damping

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

3 Author(s)
Yo-An Lim ; Department of Mechatronics, Gwangju Institute of Science and Technology, 1 Oryong-dong, Buk-gu, Korea ; Hyo Sung Ahn ; Jeha Ryu

An analog input shaper (AIS) was proposed as a means for increasing the virtual impedance range that could be stably displayed by haptic interfaces. The AIS reduces high frequency inputs to haptic interfaces, since high frequency inputs that usually occur during collisions with very stiff virtual objects can induce instabilities. The AIS is composed of an analog high-pass filter, two half-wave rectifiers, and an adder. In this paper, we show analytically that how the AIS works as equivalent frequency-dependent damping. In addition, we present both the numerical simulation results and the virtual wall experiment results using a custom-built 1-DOF haptic interface and show that the AIS can significantly increase the Z-Width.

Published in:

EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint

Date of Conference:

18-20 March 2009