Multirate Energy-Bounding Algorithm for High-Fidelity Stable Haptic Interaction Control

• Published in: IEEE transactions on control systems technology Vol. 19; no. 5; pp. 1195 - 1203
• Main Authors: Jong-Phil Kim, Changhoon Seo, Ryu, J.
• 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: 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; 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

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...