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Stability Boundary for Haptic Rendering: Influence of Human Operator

Hulin, Thomas and Preusche, Carsten and Hirzinger, Gerd (2008) Stability Boundary for Haptic Rendering: Influence of Human Operator. In: Proceedings. IROS 2008, 2008-09, Nice (Frankreich).

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Abstract

Recent analysis on the stability boundary for haptic rendering assumed a stabilizing effect through a human operator holding a haptic device, without considering his/her dynamics directly. This paper derives stability boundaries of a linear model of a haptic system including those dynamics. It shows that all three elements of the human arm modeled as mass-spring-damper system contribute to stability. The haptic system itself is composed of a haptic device colliding with a virtual wall modeled as time-delayed discrete-time spring-damper system. Futhermore, the article proves that hte recently found linear stability condition of haptic devices of Gil et al. still holds if a human is holiding the haptic device. Finally, a relation to Colgate's passivity condition defining a robustly stable region is given.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Stability Boundary for Haptic Rendering: Influence of Human Operator
Authors:
AuthorsInstitution or Email of Authors
Hulin, ThomasUNSPECIFIED
Preusche, CarstenUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2008
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:haptic rendering
Event Title:IROS 2008
Event Location:Nice (Frankreich)
Event Type:international Conference
Event Dates:2008-09
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:16 Oct 2008
Last Modified:12 Dec 2013 20:33

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