Exploitation of the Impedance and Characteristics of the Human Arm in the Design of Haptic Interfaces
Woo, H Lee, D
is with the Department of Mechanical Engineering, KAIST, Daejeon, 305-701,Korea (email:hyunsoo.woo@kaist.ac.kr).;
This paper appears in: Industrial Electronics, IEEE Transactions on Accepted for future publication
First Published:
2009-06-30
ISSN: 0278-0046
Digital Object Identifier: 10.1109/TIE.2009.2026231
Abstract
It is well known that friction in haptic devices plays a key role in dissipating surplus energy to maintain passivity of the haptic system. This paper shows that the surplus energy can be also dissipated by careful exploitation of human operators damping and analyzes the effects of the time-varying human arm impedance on the passivity of a haptic system. Human arm impedance is modeled as a second-order mass-damper-spring system. An impedance model is developed to describe the dynamic behavior of a haptic system that includes human arm impedance. A new necessary and sufficient passivity condition of the haptic system is derived using an energy-based approach. The analytical results are experimentally validated using a one-degree-of -freedom (DOF) haptic device. Experiment results show that the maximum achievable stiffness of the haptic system varies widely according to the degree of human arm impedance and is predictable more accurately using the newly derived passivity condition compared to the previous results in the literature.
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