Internal dissipation in passive haptic feedback systems

M.C.J. Franken; Stefano Stramigioli

doi:10.1109/IROS.2009.5353981

Internal dissipation in passive haptic feedback systems

M.C.J. Franken
, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

1 Citation (Scopus)

52 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 language	English
Title of host publication	Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	1755-1760
Number of pages	6
ISBN (Print)	978-1-4244-3803-7
DOIs	https://doi.org/10.1109/IROS.2009.5353981
Publication status	Published - 10 Oct 2009
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, United States Duration: 10 Oct 2009 → 15 Oct 2009

Conference

Conference	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Abbreviated title	IROS
Country/Territory	United States
City	St. Louis
Period	10/10/09 → 15/10/09

Access to Document

10.1109/IROS.2009.5353981

Cite this

@inproceedings{cc4de031c8da4c34b8ad56b7ee21e740,

title = "Internal dissipation in passive haptic feedback systems",

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.",

author = "M.C.J. Franken and Stefano Stramigioli",

note = "10.1109/IROS.2009.5353981 ; 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, IROS ; Conference date: 10-10-2009 Through 15-10-2009",

year = "2009",

month = oct,

day = "10",

doi = "10.1109/IROS.2009.5353981",

language = "English",

isbn = "978-1-4244-3803-7",

pages = "1755--1760",

booktitle = "Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

address = "United States",

}

Franken, MCJ & Stramigioli, S 2009, Internal dissipation in passive haptic feedback systems. in Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, pp. 1755-1760, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, Missouri, United States, 10/10/09. https://doi.org/10.1109/IROS.2009.5353981

TY - GEN

T1 - Internal dissipation in passive haptic feedback systems

AU - Franken, M.C.J.

AU - Stramigioli, Stefano

N1 - 10.1109/IROS.2009.5353981

PY - 2009/10/10

Y1 - 2009/10/10

N2 - 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.

AB - 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.

U2 - 10.1109/IROS.2009.5353981

DO - 10.1109/IROS.2009.5353981

M3 - Conference contribution

SN - 978-1-4244-3803-7

SP - 1755

EP - 1760

BT - Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE

T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Y2 - 10 October 2009 through 15 October 2009

ER -

Internal dissipation in passive haptic feedback systems

Abstract

Conference

Access to Document

Fingerprint

Cite this