Influence of Vibration Modes and Human Operator on the Stability of Haptic Rendering

被引：29
作者：
Diaz, Inaki [1 ]
Juan Gil, Jorge
机构：
[1] Univ Navarra, Dept Appl Mech, Ctr Estudios & Invest Tecn Guipuzcoa CEIT, E-20018 San Sebastian, Spain
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2010年 / 26卷 / 01期
关键词：
Haptics and haptic interfaces; physical human-robot interaction; stability; vibration modes; IDENTIFICATION; TRANSPARENCY; QUANTIZATION; INTERFACE;
D O I：
10.1109/TRO.2009.2037254
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Developing stable controllers, which are able to display virtual objects with high stiffness, is a persistent challenge in the field of haptics. This paper addresses the effect of internal vibration modes and the human operator on the maximum achievable virtual stiffness. An 11-parameter mechanical model is used to adequately characterize the overall system dynamics. Experiments that are carried out on LHIfAM and PHANToM haptic interfaces demonstrate the importance of vibration modes to determine the critical stiffness when the user grasps the device.
引用
收藏
页码：160 / 165
页数：6
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