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Passive Haptic Deformation Using Force Bounding

Published: 11 October 2017 Publication History

Abstract

Haptic interaction with deformable virtual environments demands high control rates in order to provide realistic interaction forces to the user. However, the update rates of physically-based simulations can be slow and variable for complex deformations. This paper bridges the rate gap between the haptic controller and an arbitrary virtual environment by interposing a local model of interaction between the two. The local model speeds up force feedback calculations by approximating the geometry and stiffness of the virtual constraints. It also maintains the haptic simulation stable by using a force bounding approach to limit the energy transferred to the user from the virtual environment.

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Cited By

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  • (2022)Reduced Interface Models for Haptic Interfacing With Virtual EnvironmentsIEEE Robotics and Automation Letters10.1109/LRA.2022.31891907:4(8683-8690)Online publication date: Oct-2022
  • (2021)Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling ReferenceIEEE Robotics and Automation Letters10.1109/LRA.2021.30644526:2(3513-3520)Online publication date: Apr-2021

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cover image ACM Other conferences
ICCMA 2017: Proceedings of the 2017 The 5th International Conference on Control, Mechatronics and Automation
October 2017
156 pages
ISBN:9781450353397
DOI:10.1145/3149827
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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  • Concordia University: Concordia University
  • University of Alberta: University of Alberta

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 11 October 2017

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Author Tags

  1. force bounding
  2. haptics
  3. local model

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View all
  • (2022)Reduced Interface Models for Haptic Interfacing With Virtual EnvironmentsIEEE Robotics and Automation Letters10.1109/LRA.2022.31891907:4(8683-8690)Online publication date: Oct-2022
  • (2021)Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling ReferenceIEEE Robotics and Automation Letters10.1109/LRA.2021.30644526:2(3513-3520)Online publication date: Apr-2021

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