Haptics : generic stability and beyond

R.I. Gaasbeek, M. Steinbuch

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In this report we study haptic interaction with slowly updated virtual environments (VEs). Such systems can become unstable due to phase lag introduced in the control loop by the delay of the VE simulation. Because of the unpredictable nature of the VEs, a force feedback control framework is required that can guarantee the stability of the haptic interaction in the absence of a model of the VE. In [1] a passivity condition for such a framework is presented, based on multirate wave variable control and filter banks, however up to now no filter design is presented which actually obeys these passivity conditions. Our contribution is an optimization algorithm to derive filters which guarantee stability. The goal is to present an optimization algorithm which gives an engineer freedom in designing the filters. By doing this we are able to present a filter bank which has guaranteed stability, while giving special attention to the boundaries in the human sensory system and the rejection of measurement noise. We investigate performance by comparing transferred admittance and stiffness; both analytically and experimentally. We present an optimization algorithm which generates guaranteed stable filter banks. The filter bank derived using the proposed optimization algorithm has superior performance compared to previous derived filter banks.
Originele taal-2Engels
Plaats van productieEindhoven
UitgeverijEindhoven University of Technology
StatusGepubliceerd - 2013

Publicatie series

NaamCST
Volume2013.013

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