Intrinsically Passive Force Scaling in Haptic Interfaces

Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

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    5 Citations (Scopus)
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    Abstract

    In several applications involving haptic interfaces it can be desirable to scale the interaction force perceived by the user. The most intuitive approach is to change the stiffness of the virtual environment but, unfortunately, changing the physical parameters that characterize a virtual environment is a potentially destabilizing action. In this paper we embed in the intrinsically passive haptic scheme recently proposed in S. Stramigioli et al. (2005) a power scaling interconnection that allows to scale the force perceived by the user while preserving the passivity, and consequently the stable behavior, of the overall system
    Original languageUndefined
    Title of host publicationProceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherIEEE
    Pages2121-2126
    Number of pages6
    ISBN (Print)1-4244-0259-X
    DOIs
    Publication statusPublished - 2006
    Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
    Duration: 9 Oct 200615 Oct 2006

    Publication series

    Name
    PublisherIEEE
    Number11

    Conference

    Conference2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
    Abbreviated titleIROS
    CountryChina
    CityBeijing
    Period9/10/0615/10/06

    Keywords

    • EWI-12673
    • METIS-248249
    • IR-62282
    • CE-Advanced Robotics

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