Effect of Voltage Driver on Uncoupled Stability and Fidelity of Kinesthetic Haptic Systems

The stability and fidelity of haptic simulation systems have been studied for a safer and more faithful haptic interaction with virtual environments. The theoretical analysis, which use a second-order model for the actuator does not match well with the experimental results at high sampling rates. In this work, we propose more accurate models and analyze the uncoupled stability and fidelity for a system actuated by a permanent magnet DC motor and its voltage driver when implementing a linear viscoelastic environment. Through theoretical work and experiments, we show that the stability and fidelity of the system are more accurately represented when a high-order dynamic model is used for the motor and its driver.