Stability of Haptic Displays
Stability of Haptic Displays
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触觉显示器的稳定性
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
J. Colgate
中科院分区：
文献类型：
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作者：
D. W. Weir;J. Colgate
触觉显示器可以被认为是产生机械阻抗的设备。“阻抗”在这里被定义为速度和力之间的动态关系。触觉显示的行为取决于所呈现的虚拟环境。例如，如果期望的行为是点质量的行为，则触觉显示器必须施加与加速度成正比的力。类似地，如果期望的行为是弹簧的行为，则触觉显示必须施加与位移成比例的力[Colgate and Brown 94]。被动性已被证明是研究触觉显示的稳定性和性能的有用工具。如果随着时间的推移提取的功率的积分不超过系统中存储的初始能量，则单端口系统是无源的。对于平动机械系统，功率是力(F)和速度(ẋ)的乘积，当能量流入系统时，功率是正数。通常，初始能量被定义为零，从而导致以下不等：
Haptic displays can be considered to be devices which generate mechanical impedances. ‘Impedance’ here is defined as a dynamic relationship between velocity and force. The behavior of the haptic display depends on the virtual environment being rendered. For instance, if the desired behavior is that of a point mass, the haptic display must exert forces proportional to acceleration. Similarly, if the desired behavior is that of a spring, the haptic display must exert forces proportional to displacement [Colgate and Brown 94]. Passivity has proved to be a useful tool for studying both the stability and performance of haptic displays. A one-port system is passive if the integral of the power extracted over time does not exceed the initial energy stored in the system. For a translational mechanical system, power is the product of force (f) and velocity (ẋ), with the sign convention that power is positive when energy flows into the system. Typically, the initial energy is defined to be zero, resulting in the following inequality:
影响因子：
2.4
作者：
BOLANOWSKI, SJ;GESCHEIDER, GA;CHECKOSKY, CM
通讯作者：
CHECKOSKY, CM