Haptic display with an interface device capable of continuous-time impedance display within a sampling period
Haptic display with an interface device capable of continuous-time impedance display within a sampling period
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DOI：
10.1109/tmech.2004.823877
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发表时间：
2004-03-01
影响因子：
6.4
通讯作者：
Yoshikawa, T
中科院分区：
文献类型：
--
作者：
Kawai, M;Yoshikawa, T
触觉界面的稳定性是虚拟现实中的一个重要问题，因为操作者直接接触触觉界面设备。稳定性受采样周期和控制系统的离散时间特性的影响。为了减少采样系统的影响，本文提出了一种触觉装置与模拟电路，它被放置在计算机和触觉装置之间。电路的功能相当于弹簧和阻尼器。控制系统可以指定刚度、阻尼系数及其平衡。由于电弹簧和阻尼器产生的阻抗可以在采样周期内连续工作，因此可以有效地使系统更加稳定。我们还开发了一种控制方法，用于显示一个静态的虚拟对象与所提出的设备进一步，我们讨论了所提出的方法的效果分析，使用被动分析的1度的自由度显示系统。最后给出了在二维虚拟环境中的实验结果。
Stability of a haptic interface is an important issue in virtual reality because an operator directly touches haptic interface devices. Stability is influenced by the sampling period and the discrete-time property of the control, system. For decreasing the sampling system influence, this paper proposes a haptic device with an analog circuit which is placed between the computer and the haptic device. The circuit functions as springs and dampers. The control system can specify stiffness, damping coefficients, and their equilibrium. Since the impedance generated by the electric spring and damper can work continuously within the sampling period, it is effective for making the system more stable. We also develop a control method for displaying a static virtual object with the proposed devices Further, we discuss the effects of the proposed approach analytically, using passivity analysis for a 1-degree-of-freedom display system. Finally, some experimental results in a two-dimensional virtual environment are presented.