Stable haptic display of slowly updated virtual environment with multirate wave transform

Changhyun Cho, Munsang Kim, Chang Soon Hwang, Jaehyung Lee, Jae-Bok Song

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

7 Citations (Scopus)

Abstract

This paper proposes a control method that overcomes the instability arising from both the low update rates of the virtual environment (VE) and the time delay in a communication line. The instability arising from the time delay in a communication line can be overcome using the wave variables since time delay on the wave variables is passive. The so-called multirate control scheme is applied to cope with the problems presented by the low update rates of VE. Since digital sample and hold (rate transitions) can be represented as a series of time delay, the passive nature of time delay on the wave variables is applied. By computing the norm of the scattering matrix, it was verified that rate transitions on the wave variables are passive, thereby deriving a stable haptic interface with the multirate wave transform. Various experiments have shown that a stable force display is achieved with the multirate wave transform.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2465-2470
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005 Dec 1
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 2005 Apr 182005 Apr 22

Other

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

Fingerprint

Virtual reality
Display devices
Time delay
Haptic interfaces
Communication
Scattering
Experiments

Keywords

  • Low update rate
  • Multirate wave transform
  • Scattered network
  • Wave variables

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Cho, C., Kim, M., Hwang, C. S., Lee, J., & Song, J-B. (2005). Stable haptic display of slowly updated virtual environment with multirate wave transform. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2005, pp. 2465-2470). [1570482] https://doi.org/10.1109/ROBOT.2005.1570482

Stable haptic display of slowly updated virtual environment with multirate wave transform. / Cho, Changhyun; Kim, Munsang; Hwang, Chang Soon; Lee, Jaehyung; Song, Jae-Bok.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. p. 2465-2470 1570482.

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

Cho, C, Kim, M, Hwang, CS, Lee, J & Song, J-B 2005, Stable haptic display of slowly updated virtual environment with multirate wave transform. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2005, 1570482, pp. 2465-2470, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570482
Cho C, Kim M, Hwang CS, Lee J, Song J-B. Stable haptic display of slowly updated virtual environment with multirate wave transform. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005. 2005. p. 2465-2470. 1570482 https://doi.org/10.1109/ROBOT.2005.1570482
Cho, Changhyun ; Kim, Munsang ; Hwang, Chang Soon ; Lee, Jaehyung ; Song, Jae-Bok. / Stable haptic display of slowly updated virtual environment with multirate wave transform. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. pp. 2465-2470
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