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Haptic Rendering and Control

Preusche, Carsten and Hulin, Thomas and Hirzinger, Gerd (2008) Haptic Rendering and Control. In: Birkhäuser Basel. ISBN 9783764376116.

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Abstract

Haptic algorithms compute forces from a virtual scene that are displayed via haptic interfaces to humans. This chapter focuses on suited algorithms and on control approaches for stable haptic interaction and highly transparent haptic rendering.<p> In haptic control systems, a fixed update rate is crucial for stability of the control loop. Thus, haptic rendering has to fulfil the requirement of deterministic computation time. Furthermore, high transparency requires high spatial resolution of the device's sensors and of the haptic algorithm. Haptic rendering based on the Voxmap-PointShell approach has the advantage of guaranteed update rates for collision detection and high resolution models, and is therefore suitable for haptic interaction.</p><p> Stability of haptic interaction limits the displayable stiffness of contacts in a virtual scene. Thus, a non-conservative stability condition is essential for high-transparent haptic interaction. The presented method is based on exact calculation of stability boundaries, which is in contrast to the widespread but conservative passivity-based approaches for haptic rendering.</p>

Document Type:Book Section
Title:Haptic Rendering and Control
Authors:
AuthorsInstitution or Email of Authors
Preusche, CarstenUNSPECIFIED
Hulin, ThomasUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2008
Refereed publication:Yes
Publisher:Birkhäuser Basel
ISBN:9783764376116
Status:Published
Keywords:haptic rendering
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:17 Oct 2008
Last Modified:12 Dec 2013 20:33

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