By Topic

Frequency Domain Stability Observer and Active Damping Control for Stable Haptic Interaction

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)
Dongseok Ryu ; Intelligent Robotics Res. Center, Korea Inst. of Sci. & Technol., Seoul ; Jae-Bok Song ; Junho Choi ; Sungchul Kang
more authors

Stable haptic interaction has been studied extensively by an energy-based approach. However, the energy in the haptic system is not directly measurable, but estimated from some measured quantities such as force and velocity; therefore, the estimated energy is occasionally inaccurate. To resolve this problem, a new observer, working in the frequency domain, is proposed in this research. The observer quantifies the degree of instability of a haptic system, and a proposed controller generates variable damping in proportion to this quantitative instability. Especially, for a double layered virtual wall, the proposed methods were much faster in detecting haptic instability than other schemes, and successfully reduced unstable behavior.

Published in:

Robotics and Automation, 2007 IEEE International Conference on

Date of Conference:

10-14 April 2007