Intrinsically Passive Force Scaling in Haptic Interfaces

Cristian Secchi; Stefano Stramigioli; Cesare Fantuzzi

doi:10.1109/IROS.2006.282491

Intrinsically Passive Force Scaling in Haptic Interfaces

Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

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

5 Citations (Scopus)

117 Downloads (Pure)

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 language	Undefined
Title of host publication	Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	2121-2126
Number of pages	6
ISBN (Print)	1-4244-0259-X
DOIs	https://doi.org/10.1109/IROS.2006.282491
Publication status	Published - 2006
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 9 Oct 2006 → 15 Oct 2006

Publication series

Name
Publisher	IEEE
Number	11

Conference

Conference	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Abbreviated title	IROS
Country/Territory	China
City	Beijing
Period	9/10/06 → 15/10/06

Keywords

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

Access to Document

10.1109/IROS.2006.282491

Secci06intrinsically

http://eprints.eemcs.utwente.nl/secure2/12673/01/Secchi-IROS2006.pdf-f8ea949bcc4252463706affde2f9155b.pdf

Cite this

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title = "Intrinsically Passive Force Scaling in Haptic Interfaces",

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",

keywords = "EWI-12673, METIS-248249, IR-62282, CE-Advanced Robotics",

author = "Cristian Secchi and Stefano Stramigioli and Cesare Fantuzzi",

note = "10.1109/IROS.2006.282491 ; null ; Conference date: 09-10-2006 Through 15-10-2006",

year = "2006",

doi = "10.1109/IROS.2006.282491",

language = "Undefined",

isbn = "1-4244-0259-X",

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booktitle = "Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems",

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Secchi, C, Stramigioli, S & Fantuzzi, C 2006, Intrinsically Passive Force Scaling in Haptic Interfaces. in Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems., 10.1109/IROS.2006.282491, IEEE, pp. 2121-2126, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 9/10/06. https://doi.org/10.1109/IROS.2006.282491

Intrinsically Passive Force Scaling in Haptic Interfaces. / Secchi, Cristian; Stramigioli, Stefano; Fantuzzi, Cesare.

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2006. p. 2121-2126 10.1109/IROS.2006.282491.

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

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T1 - Intrinsically Passive Force Scaling in Haptic Interfaces

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AU - Stramigioli, Stefano

AU - Fantuzzi, Cesare

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PY - 2006

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AB - 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

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KW - METIS-248249

KW - IR-62282

KW - CE-Advanced Robotics

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