Internal dissipation in passive haptic feedback systems

M.C.J. Franken, Stefano Stramigioli

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    1 Citation (Scopus)
    30 Downloads (Pure)

    Abstract

    In this paper the passivity algorithm proposed in is revisited. This algorithm generates passive haptic feedback by monitoring the energy flows in the virtual environment. The original formulation of the algorithm could not deal well with large internal dissipation and high sampling frequencies. An alteration is proposed on how internal dissipation is handled. This alteration improves the robustness of the algorithm for a wider range of parameter values and sample times. The improved version of the algorithm is demonstrated in a virtual wall experiment.
    Original languageEnglish
    Title of host publicationProceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages1755-1760
    Number of pages6
    ISBN (Print)978-1-4244-3803-7
    DOIs
    Publication statusPublished - 10 Oct 2009
    Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, United States
    Duration: 10 Oct 200915 Oct 2009

    Conference

    Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    Abbreviated titleIROS
    CountryUnited States
    CitySt. Louis
    Period10/10/0915/10/09

    Fingerprint Dive into the research topics of 'Internal dissipation in passive haptic feedback systems'. Together they form a unique fingerprint.

  • Cite this

    Franken, M. C. J., & Stramigioli, S. (2009). Internal dissipation in passive haptic feedback systems. In Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1755-1760). IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/IROS.2009.5353981