Abstract:
The stability of haptic simulation systems has been studied for a safer interaction with virtual environments. In this work, the passivity and uncoupled stability of such...Show MoreMetadata
Abstract:
The stability of haptic simulation systems has been studied for a safer interaction with virtual environments. In this work, the passivity and uncoupled stability of such systems are analyzed when a viscoelastic virtual environment is implemented using a two-parameter Tustin-like general discretization method that can also represent methods such as backward difference, Tustin, and zero-order-hold. Aiming at expanding the virtual environment dynamic range, it is shown that by tuning the parameters for a customized discretization method, the virtual environment dynamic range will supersede the ranges offered by methods such as backward difference, Tustin and zero-order-hold. The proposed discretization method is numerically and experimentally evaluated.
Published in: 2021 IEEE World Haptics Conference (WHC)
Date of Conference: 06-09 July 2021
Date Added to IEEE Xplore: 23 August 2021
ISBN Information: