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 of the 2005 IEEE International Conference on Robotics and Automation
Pages2465-2470
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

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

ASJC Scopus subject areas

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

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  • 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 of the 2005 IEEE International Conference on Robotics and Automation (pp. 2465-2470). [1570482] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570482