Referenced Items are not available for this document.
Design of haptic systems that guarantee stable interaction is a challenging task. Virtual environments are typically highly nonlinear-resulting in a nonpassive discrete-time model. This paper will investigate how nonlinear mass/spring/damper virtual environments can be designed to guarantee the absence of oscillations and other chaotic behavior in the signal presented to the human operator. In particular, delayed and nondelayed implementation of the mass/spring/damper virtual environment is considered, revealing a nonintuitive result with regard to the allowable local stiffness
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:16
,
Issue:
6
)
Date of Publication: Dec 2000
- Page(s):
- 712 - 719
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 6836757
- Digital Object Identifier :
- 10.1109/70.897782
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Dec 2000
- Sponsored by :
- IEEE Robotics and Automation Society
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