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International Conference on Human Haptic Sensing and Touch Enabled Computer Applications

EuroHaptics 2008: Haptics: Perception, Devices and Scenarios pp 169–174Cite as

Wave Variables and the 4 Channel Architecture for Haptic Teleoperation

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Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 5024))

Abstract

This paper expresses the ”Wave variable” and the Lawrence/Salcudean ”4-Channel” architectures in a unified MIMO framework in the frequency domain. This illustrates how these popular control architectures are related, and in which way they are equivalent. Furthermore, it is shown that the information communicated between master and slave is very similar in both cases. It is suggested to use the term ”control effort” instead of ”wave-variable”, to clarifiy the mechanism of the controllers.

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References

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Author information

Authors and Affiliations

  1. Delft Haptics Laboratory, Delft University of Technology, The Netherlands, SKF Engineering Research Center, Nieuwegein, The Netherlands

    Göran A. V. Christiansson

Authors
  1. Göran A. V. Christiansson
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Manuel Ferre

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© 2008 Springer-Verlag Berlin Heidelberg

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Christiansson, G.A.V. (2008). Wave Variables and the 4 Channel Architecture for Haptic Teleoperation. In: Ferre, M. (eds) Haptics: Perception, Devices and Scenarios. EuroHaptics 2008. Lecture Notes in Computer Science, vol 5024. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69057-3_20

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  • DOI: https://doi.org/10.1007/978-3-540-69057-3_20

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-69056-6

  • Online ISBN: 978-3-540-69057-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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