TY - GEN
T1 - Design of a haptic stability observer in frequency domain for stable haptic interaction
AU - Ryu, Dongseok
AU - Song, Jae Bok
AU - Choi, Junho
AU - Kang, Sungchul
AU - Kim, Munsang
PY - 2006
Y1 - 2006
N2 - Stable haptic interaction has been studied extensively by an energy-based approach. However, the energy in the haptic system is not directly measurable, but estimated from some measured quantities such as force and velocity; therefore, the estimated energy is occasionally inaccurate. Furthermore, haptic stability is difficult to observe by the energy-based approach for complicated virtual environments. To resolve this problem, a new observer, called a haptic stability observer, is proposed in this research. The empirical investigation of unstable haptic interaction in the frequency domain showed that the typical unstable behavior of a haptic system is different from random oscillations introduced by the hand motion of a human operator. The haptic stability observer working in the frequency domain quantifies the degree of instability of a haptic system. A double layered wall was implemented in the virtual environment to verify the validity of the HSO. Experimental results of the double layered wall show that the HSO is much faster than the passivity observer in detecting haptic instability.
AB - Stable haptic interaction has been studied extensively by an energy-based approach. However, the energy in the haptic system is not directly measurable, but estimated from some measured quantities such as force and velocity; therefore, the estimated energy is occasionally inaccurate. Furthermore, haptic stability is difficult to observe by the energy-based approach for complicated virtual environments. To resolve this problem, a new observer, called a haptic stability observer, is proposed in this research. The empirical investigation of unstable haptic interaction in the frequency domain showed that the typical unstable behavior of a haptic system is different from random oscillations introduced by the hand motion of a human operator. The haptic stability observer working in the frequency domain quantifies the degree of instability of a haptic system. A double layered wall was implemented in the virtual environment to verify the validity of the HSO. Experimental results of the double layered wall show that the HSO is much faster than the passivity observer in detecting haptic instability.
KW - Frequency domain
KW - Haptic stability observer
KW - Stable haptic interaction
UR - http://www.scopus.com/inward/record.url?scp=34250754407&partnerID=8YFLogxK
U2 - 10.1109/SICE.2006.315469
DO - 10.1109/SICE.2006.315469
M3 - Conference contribution
AN - SCOPUS:34250754407
SN - 8995003855
SN - 9788995003855
T3 - 2006 SICE-ICASE International Joint Conference
SP - 198
EP - 203
BT - 2006 SICE-ICASE International Joint Conference
T2 - 2006 SICE-ICASE International Joint Conference
Y2 - 18 October 2006 through 21 October 2006
ER -