Haptic interface using delayed reflection wave: Application to a passive haptic device

Jae Hyeong Lee, Chang Hyun Cho, Jae Bok Song, Chang Soon Hwang, Munsang Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

It is well known that the wave variables are robust to time delay of a system from the viewpoint of passivity. During implementation of the wave transformation on the sampled-data system, a unit time delay arises due to causality of the reflection wave. The unit time delay on the reflection wave occasionally becomes a passive element. From the passivity condition of the sampled-data system, the wave impedance can be designed such that the wave transformation using delayed reflection provides the effect of positive damping and thus the stable haptic interface is achieved on the sampled-data system. Various experiments for a 2-linked passive haptic device show that stable haptic interface can be accomplished for the wall-following task by use of the wave transformation using delayed reflection.

Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages2471-2476
Number of pages6
DOIs
Publication statusPublished - 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 2005 Apr 182005 Apr 22

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period05/4/1805/4/22

Keywords

  • Delayed reflection wave
  • Haptic interface
  • Sampled-data system
  • Wave variables

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Lee, J. H., Cho, C. H., Song, J. B., Hwang, C. S., & Kim, M. (2005). Haptic interface using delayed reflection wave: Application to a passive haptic device. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 2471-2476). [1570483] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570483