Frequency domain stability observer and active damping control for stable haptic interaction

D. Ryu, Jae-Bok Song, S. Kang, M. Kim

Research output: Contribution to journalArticle

20 Citations (Scopus)

Abstract

Stable haptic interaction has been studied extensively using an energy-based approach, because energy is an indirect index reflecting unstable haptic behaviour. When a haptic system generates energy, the system becomes unstable. Therefore the energy-based approach should provide a point of reference for defining generated energy. However, in some practical cases, such as a multi-layered virtual wall, it is difficult to determine the point of reference. As a result, unstable behaviour cannot be detected promptly. To resolve this problem, a new observer, working in the frequency domain, was tested in this research. The observer directly examined unstable behaviour vibration, rather than analysing the indirect index reflecting the behaviour. The observer quantified the degree of instability of a haptic system, and a newly developed controller generated variable damping in proportion to this quantitative instability. In the case of a multi-layered virtual wall, the proposed methods were much faster in detecting haptic instability than other schemes, and successfully eliminated unstable behaviour.

Original languageEnglish
Pages (from-to)261-268
Number of pages8
JournalIET Control Theory and Applications
Volume2
Issue number4
DOIs
Publication statusPublished - 2008 May 1

Fingerprint

Haptic Interaction
Haptics
Frequency Domain
Observer
Damping
Unstable
Energy
Controllers
Resolve
Proportion
Vibration
Controller

ASJC Scopus subject areas

  • Computer Science Applications
  • Human-Computer Interaction
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Control and Optimization

Cite this

Frequency domain stability observer and active damping control for stable haptic interaction. / Ryu, D.; Song, Jae-Bok; Kang, S.; Kim, M.

In: IET Control Theory and Applications, Vol. 2, No. 4, 01.05.2008, p. 261-268.

Research output: Contribution to journalArticle

@article{786d223de1954cf6bdfd0992055aa670,
title = "Frequency domain stability observer and active damping control for stable haptic interaction",
abstract = "Stable haptic interaction has been studied extensively using an energy-based approach, because energy is an indirect index reflecting unstable haptic behaviour. When a haptic system generates energy, the system becomes unstable. Therefore the energy-based approach should provide a point of reference for defining generated energy. However, in some practical cases, such as a multi-layered virtual wall, it is difficult to determine the point of reference. As a result, unstable behaviour cannot be detected promptly. To resolve this problem, a new observer, working in the frequency domain, was tested in this research. The observer directly examined unstable behaviour vibration, rather than analysing the indirect index reflecting the behaviour. The observer quantified the degree of instability of a haptic system, and a newly developed controller generated variable damping in proportion to this quantitative instability. In the case of a multi-layered virtual wall, the proposed methods were much faster in detecting haptic instability than other schemes, and successfully eliminated unstable behaviour.",
author = "D. Ryu and Jae-Bok Song and S. Kang and M. Kim",
year = "2008",
month = "5",
day = "1",
doi = "10.1049/iet-cta:20070069",
language = "English",
volume = "2",
pages = "261--268",
journal = "IET Control Theory and Applications",
issn = "1751-8644",
publisher = "Institution of Engineering and Technology",
number = "4",

}

TY - JOUR

T1 - Frequency domain stability observer and active damping control for stable haptic interaction

AU - Ryu, D.

AU - Song, Jae-Bok

AU - Kang, S.

AU - Kim, M.

PY - 2008/5/1

Y1 - 2008/5/1

N2 - Stable haptic interaction has been studied extensively using an energy-based approach, because energy is an indirect index reflecting unstable haptic behaviour. When a haptic system generates energy, the system becomes unstable. Therefore the energy-based approach should provide a point of reference for defining generated energy. However, in some practical cases, such as a multi-layered virtual wall, it is difficult to determine the point of reference. As a result, unstable behaviour cannot be detected promptly. To resolve this problem, a new observer, working in the frequency domain, was tested in this research. The observer directly examined unstable behaviour vibration, rather than analysing the indirect index reflecting the behaviour. The observer quantified the degree of instability of a haptic system, and a newly developed controller generated variable damping in proportion to this quantitative instability. In the case of a multi-layered virtual wall, the proposed methods were much faster in detecting haptic instability than other schemes, and successfully eliminated unstable behaviour.

AB - Stable haptic interaction has been studied extensively using an energy-based approach, because energy is an indirect index reflecting unstable haptic behaviour. When a haptic system generates energy, the system becomes unstable. Therefore the energy-based approach should provide a point of reference for defining generated energy. However, in some practical cases, such as a multi-layered virtual wall, it is difficult to determine the point of reference. As a result, unstable behaviour cannot be detected promptly. To resolve this problem, a new observer, working in the frequency domain, was tested in this research. The observer directly examined unstable behaviour vibration, rather than analysing the indirect index reflecting the behaviour. The observer quantified the degree of instability of a haptic system, and a newly developed controller generated variable damping in proportion to this quantitative instability. In the case of a multi-layered virtual wall, the proposed methods were much faster in detecting haptic instability than other schemes, and successfully eliminated unstable behaviour.

UR - http://www.scopus.com/inward/record.url?scp=42549113014&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=42549113014&partnerID=8YFLogxK

U2 - 10.1049/iet-cta:20070069

DO - 10.1049/iet-cta:20070069

M3 - Article

AN - SCOPUS:42549113014

VL - 2

SP - 261

EP - 268

JO - IET Control Theory and Applications

JF - IET Control Theory and Applications

SN - 1751-8644

IS - 4

ER -