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

Changhyun Cho, Jae Bok Song, Munsang Kim

Research output: Contribution to journalArticle

17 Citations (Scopus)

Abstract

This paper proposes a control method that overcomes the instability of a haptic interface arising from both the slow 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 the time delay on the wave variables becomes passive. The so-called multirate control scheme is applied to cope with the problems presented by the slow update rates of the 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 become passive, so a stable haptic interface was derived with the multirate wave transform. Various experiments have shown that a stable force display can be achieved with the multirate wave transform.

Original languageEnglish
Pages (from-to)566-575
Number of pages10
JournalIEEE/ASME Transactions on Mechatronics
Volume13
Issue number5
DOIs
Publication statusPublished - 2008

Keywords

  • Haptics
  • Multirate wave transform
  • Rate transitions
  • Slow update rate
  • Wave variables

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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