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Enhanced Haptic Passivity and Uncoupled Stability with Tustin-like General Discretization Method | IEEE Conference Publication | IEEE Xplore

Enhanced Haptic Passivity and Uncoupled Stability with Tustin-like General Discretization Method


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 More

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.
Date of Conference: 06-09 July 2021
Date Added to IEEE Xplore: 23 August 2021
ISBN Information:
Conference Location: Montreal, QC, Canada

Funding Agency:


References

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