Dills et al., Stability and Rendering of a Parallel Hybrid Haptic ..., IEEE Haptics Symposium 2022
Channel: IEEE Haptics Symposium
Date: 2022-03-15

P. Dills, A. Dawson-Elli, K. Gruben, P. Adamczyk, M. Zinn, Stability and Rendering Limitations of a Parallel Hybrid Active-Passive Haptic Interface, Proceedings of IEEE Haptics Symposium 2022
Abstract: Impedance based kinesthetic haptic devices have been a focus of study for many years. Factors such as delay and the dynamics of the device itself affect the stable rendering range of traditional active kinesthetic devices. A parallel hybrid actuation approach, which combines active energy supplying actuators and passive energy absorbing actuators into a single actuator, has recently been experimentally shown to increase the range of stable virtual stiffness a haptic device can achieve when compared to the active component of the actuator alone. This work presents both a stability and rendering range analysis that aims to identify the mechanisms and limitations by which parallel hybrid actuation increases the stable rendering range of virtual stiffness. Increases in actuator stability are analytically and experimentally shown to be linked to the stiffness of the passive actuator. 
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