Stable Haptic Interaction With Virtual Environments

Abstract

A haptic interface is a kinesthetic link between a human operator and a virtual environment. It allows the user of a virtual reality system to feel objects in a virtual world. This dissertation addresses fundamental stability and performance issues associated with haptic interaction. It generalizes and extends the concept of a virtual coupling network, an artificial link between the haptic display and a virtual environment, to include both impedance and admittance models of haptic interaction. A benchmark example is used to expose an important duality between these two cases. Linear circuit theory is employed to develop necessary and sufficient conditions for the stability of a haptic simulation, assuming the human operator and virtual environment are passive. This approach leads to design procedures for virtual coupling networks which give maximum performance while guaranteeing stability.

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Document Details

Document Type
Technical Report
Publication Date
Oct 19, 1999
Accession Number
ADA370316

Entities

People

  • Richard J. Adams

Organizations

  • University of Washington

Tags

Communities of Interest

  • Advanced Electronics
  • Autonomy
  • Biomedical

DTIC Thesaurus Topics

  • Air Force
  • Cognitive Systems Engineering
  • Computational Science
  • Computer Simulations
  • Control Systems
  • Control Systems Engineering
  • Engineers
  • Haptics
  • Human Factors Engineering
  • Human Systems Integration
  • Human-Machine Interfaces
  • Jet Propulsion
  • Network Science
  • Robots
  • Three Dimensional
  • Two Dimensional
  • Virtual Reality

Readers

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  • Robotics and Automation.