Time-Domain Passivity Control of Haptic Interfaces with Tunable Damping Hardware
Time-Domain Passivity Control of Haptic Interfaces with Tunable Damping Hardware
复制标题
具有可调阻尼硬件的触觉接口的时域无源控制
DOI：
10.1109/whc.2007.116
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
V. Hayward
中科院分区：
文献类型：
--
作者：
A. Gosline;V. Hayward
我们描述了一种时域无源控制方法，该方法使用可编程涡流粘性阻尼器来防止用户从触觉界面提取能量。无源观测器监视虚拟环境的能量流，并使用阻尼硬件来消除虚拟环境中违反无源约束的任何能量贡献。实验表明，可编程物理阻尼器方法提高了固有耗散最小的触觉设备的性能
We describe a time-domain passivity control methodology that uses programmable eddy current viscous dampers to prevent a user from extracting energy from a haptic interface. A passivity observer monitors the energy flow of the virtual environment, and damping hardware is used to remove any energy contributions from the virtual environment that violate passivity constraints. Experiments illustrate that the programmable physical damper method improves the performance of a haptic device that has minimal inherent dissipation