Haptic display with an interface device capable of continuous-time impedance display within a sampling period

IEEE/ASME Transactions on Mechatronics

Volumn 9, Issue 1, 2004, Pages 58-64

  Kawai, Masayuki ^a   Yoshikawa, Tsuneo ^b  

^a UNIVERSITY OF FUKUI   (Japan)

^b KYOTO UNIVERSITY   (Japan)

Author keywords

Electric circuit; Haptic interface; Impedance control; Passivity analysis; Stability; Virtual reality

Indexed keywords

COMPUTER MONITORS; DAMPING; DISCRETE TIME CONTROL SYSTEMS; ELECTRIC IMPEDANCE; LINEAR INTEGRATED CIRCUITS; STIFFNESS; SYSTEM STABILITY; VIRTUAL REALITY;

ANALOG CIRCUIT; CONTINUOUS TIME IMPEDANCE DISPLAY; HAPTIC DISPLAY; INTERFACE DEVICE; PASSIVITY ANALYSIS;

HAPTIC INTERFACES;

EID: 15744393109     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2004.823877     Document Type: Article

References (14)

1. T. Massie and K. Salisbury, "The PHANTOM haptic interface: A device for probing virtual objects," in Proc. ASME Winter Annual Meeting, vol. 55-1, New Orleans, LA., 1994, pp. 295-300.
2. M. Minsky, M. Ouh-young, O. Steele, F. P. Brooks, and M. Behensky, "Feeling and seeing: Issues in force display," Comput. Graph, vol. 24, no. 2, pp. 235-243, 1990.
3. J. E. Colgate and G. Schenkel, "Passivity of a class of sampled-data systems: Application to haptic interfaces," in Proc. American Control Conf., 1994, pp. 3236-3240.
4. J. E. Colgate, M. C. Stanley, and J. M. Brown, "Issues in the haptic display of tool use," in Proc. Int. Conf. Intelligent Robotics and Systems, 1995, pp. 140-145.
5. R. J. Adams and B. Hannaford, "Stable haptic interaction with virtual environment," IEEE Trans. Robot. Automat., vol. 15, pp. 465-474, June 1999.
6. T. Yoshikawa and H. Ueda, "Haptic virtual reality: Display of operating feel of dynamic virtual objects," in Proc. 7th Symp. Robotic Research., 1996, pp. 214-221.
7. M. Ouh-Young, D. V. Beard, and F. P. Brooks, Jr., "Force display performs better than visual display in a simple 6-D docking task," in Proc. Int. Conf. Robotics and Automation, 1989, pp. 1462-1466.
8. J. E. Colgate and J. M. Brown, "Factors affecting the Z-width of a haptic display," in Proc. Int. Conf. Robotics and Automation, 1994, pp. 3205-3210.
9. D. C. Ruspini, K. Kolarov, and O. Khatib, "Haptic interaction in virtual environment," in Proc. IEEE/RSJ Int. Conf. Intelligent Robotics and Systems, vol. 1, 1997, pp. 128-133.
10. ____, "A framework for multi-contact multi-body dynamic simulation and haptic display," in Proc. IEEE/RSJ Int. Conf. Intelligent Robotics and Systems, vol. 2, 2000, pp. 1322-1327.
11. R. Balaniuk and C. Laugier, "Haptic interface is generic virtual reality systems," in Proc. Int. Conf. on Intelligent Robotics and Systems, 2000, pp. 1310-1315.
12. T. Yoshikawa, Y. Yokokohji, T. Matsumoto, and X.-Z. Zheng, "Display of feel for the manipulation of dynamic virtual objects," Trans. ASME J. Dyn. Syst. Meas. Contr., vol. 117, no. 4, pp. 554-8, 1995.
13. C. Abul-Haj and N. Hogan, "An emulator system for developing improved elbow-prosthesis designs," IEEE Trans. Biomedical Eng., vol. BME-34, pp. 724-737, Sept. 1987.
14. S.-F. Chen and I. Kao, "Conservative congruence transformation for joint and cartesian stiffness matrices for robotic hands and fingers," Int. J. Robot. Res., vol. 19, no. 9, pp. 835-847, 2000.