Multirate Energy-Bounding Algorithm for High-Fidelity Stable Haptic Interaction Control
This brief describes a multirate energy-bounding algorithm that significantly increases the displayable stiffness while guaranteeing the overall haptic interaction stability. Unlike haptic interaction control algorithms that are based on the multirate simulation of virtual environments, the proposed...
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Published in | IEEE transactions on control systems technology Vol. 19; no. 5; pp. 1195 - 1203 |
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Main Authors | , , |
Format | Journal Article |
Language | English |
Published |
New York, NY
IEEE
01.09.2011
Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subjects | |
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Abstract | This brief describes a multirate energy-bounding algorithm that significantly increases the displayable stiffness while guaranteeing the overall haptic interaction stability. Unlike haptic interaction control algorithms that are based on the multirate simulation of virtual environments, the proposed multirate approach separates the low-level control thread from the haptic thread. The haptic thread updates the haptic interaction computation, or the collision detection and response and dynamic or deformation simulation, of a virtual environment at slow rate while the low-level control thread updates the actuator command force determined by the energy-bounding algorithm to guarantee the interaction stability at a high update rate. An analytical derivation study shows that the displayable stiffness of virtual environments can be significantly increased by an order of N , which is the ratio of the fast actuator command signal update to the slow haptic simulation update. Experiments using a commercial haptic device demonstrate that the displayed stiffness significantly increases while guaranteeing stability even when the haptic rendering rate is slow. |
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AbstractList | This brief describes a multirate energy-bounding algorithm that significantly increases the displayable stiffness while guaranteeing the overall haptic interaction stability. Unlike haptic interaction control algorithms that are based on the multirate simulation of virtual environments, the proposed multirate approach separates the low-level control thread from the haptic thread. The haptic thread updates the haptic interaction computation, or the collision detection and response and dynamic or deformation simulation, of a virtual environment at slow rate while the low-level control thread updates the actuator command force determined by the energy-bounding algorithm to guarantee the interaction stability at a high update rate. An analytical derivation study shows that the displayable stiffness of virtual environments can be significantly increased by an order of [Formula Omitted], which is the ratio of the fast actuator command signal update to the slow haptic simulation update. Experiments using a commercial haptic device demonstrate that the displayed stiffness significantly increases while guaranteeing stability even when the haptic rendering rate is slow. This brief describes a multirate energy-bounding algorithm that significantly increases the displayable stiffness while guaranteeing the overall haptic interaction stability. Unlike haptic interaction control algorithms that are based on the multirate simulation of virtual environments, the proposed multirate approach separates the low-level control thread from the haptic thread. The haptic thread updates the haptic interaction computation, or the collision detection and response and dynamic or deformation simulation, of a virtual environment at slow rate while the low-level control thread updates the actuator command force determined by the energy-bounding algorithm to guarantee the interaction stability at a high update rate. An analytical derivation study shows that the displayable stiffness of virtual environments can be significantly increased by an order of N , which is the ratio of the fast actuator command signal update to the slow haptic simulation update. Experiments using a commercial haptic device demonstrate that the displayed stiffness significantly increases while guaranteeing stability even when the haptic rendering rate is slow. |
Author | Ryu, J. Changhoon Seo Jong-Phil Kim |
Author_xml | – sequence: 1 surname: Jong-Phil Kim fullname: Jong-Phil Kim email: lowtar74@imrc.kist.re.kr organization: Imaging Media Res. Center, Korea Inst. of Sci. & Technol. (KIST), Seoul, South Korea – sequence: 2 surname: Changhoon Seo fullname: Changhoon Seo email: search@gist.ac.kr organization: Dept. of Mechatron., Gwangju Inst. of Sci. & Technol., Gwangju, South Korea – sequence: 3 givenname: J. surname: Ryu fullname: Ryu, J. email: ryu@gist.ac.kr organization: Dept. of Mechatron., Gwangju Inst. of Sci. & Technol., Gwangju, South Korea |
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Keywords | Bolted joint Dynamic response Fidelity multirate control Control program Updating Multirate system Passivity Haptic interaction N order Machine language Tactile sensitivity high-fidelity User interface Virtual reality Sensorial perception Stiffness Collision detection Force control Collision avoidance stability Actuator |
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References | ref13 kim (ref11) 2007 ref12 kim (ref9) 2004; 2 ref10 cho (ref6) 2008; 13 ref2 ref1 ref8 ref7 ref4 ref3 ref5 |
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SubjectTerms | Actuators Algorithms Applied sciences Artificial intelligence Commands Computational modeling Computer science; control theory; systems Computer simulation Computer systems and distributed systems. User interface Control algorithms Derivation Exact sciences and technology Force feedback Haptic interaction Haptic interfaces Haptics high-fidelity Instruction sets multirate control passivity Pattern recognition. Digital image processing. Computational geometry Rendering (computer graphics) Software Stability Stiffness Studies Virtual environments |
Title | Multirate Energy-Bounding Algorithm for High-Fidelity Stable Haptic Interaction Control |
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