@inproceedings{fd23661ef0b2486186e682c3f53ab4e7,
title = "Stable haptic display of slowly updated virtual environment with multirate wave transform",
abstract = "This paper proposes a control method that overcomes the instability arising from both the low update rates of the virtual environment (VE) and the time delay in a communication line. The instability arising from the time delay in a communication line can be overcome using the wave variables since time delay on the wave variables is passive. The so-called multirate control scheme is applied to cope with the problems presented by the low update rates of VE. Since digital sample and hold (rate transitions) can be represented as a series of time delay, the passive nature of time delay on the wave variables is applied. By computing the norm of the scattering matrix, it was verified that rate transitions on the wave variables are passive, thereby deriving a stable haptic interface with the multirate wave transform. Various experiments have shown that a stable force display is achieved with the multirate wave transform.",
keywords = "Low update rate, Multirate wave transform, Scattered network, Wave variables",
author = "Changhyun Cho and Munsang Kim and Hwang, {Chang Soon} and Jaehyung Lee and Song, {Jae Bok}",
year = "2005",
doi = "10.1109/ROBOT.2005.1570482",
language = "English",
isbn = "078038914X",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "2465--2470",
booktitle = "Proceedings of the 2005 IEEE International Conference on Robotics and Automation",
note = "2005 IEEE International Conference on Robotics and Automation ; Conference date: 18-04-2005 Through 22-04-2005",
}