Dills et al., Stability and Rendering Limitations of Admittance ..., IEEE Haptics Symposium 2022
Channel: IEEE Haptics Symposium
Date: 2022-03-15

P. Dills, K. Gabardi, M. Zinn, Stability and Rendering Limitations of High-Performance Admittance Based Haptic Interfaces, Proceedings of IEEE Haptics Symposium 2022 
Abstract: This work investigates the stability and rendering limitations of admittance-type haptic devices. We investigated a wider range of impedances than had previously been considered, including stiffness, damping, mass, and combinations thereof. The coupled human driving impedance, actuator position control bandwidth, and loop delay are identified as major factors affecting the range of stable impedances. Finally, the theoretical results are experimentally verified using a custom one degree of freedom admittance type haptic device. 
#haptics #haptics2022 #AdmittanceHaptics #KinestheticHaptics 
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