Stability boundary for haptic rendering: Influence of human operator

Stability boundary for haptic rendering: Influence of human operator

Recent analysis on the stability boundary for haptic rendering assumed a stabilizing effect through a human operator holding a haptic device, without considering his/her dynamics directly. This paper derives stability boundaries of a linear model of a haptic system including those dynamics. It shows...

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Hauptverfasser: Hulin, T., Preusche, C., Hirzinger, G.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Damping
Delay
Haptic interfaces
Humans
Numerical stability
Stability analysis
Stability criteria
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description Recent analysis on the stability boundary for haptic rendering assumed a stabilizing effect through a human operator holding a haptic device, without considering his/her dynamics directly. This paper derives stability boundaries of a linear model of a haptic system including those dynamics. It shows that all three elements of the human arm modeled as mass-spring-damper system contribute to stability. The haptic system itself is composed of a haptic device colliding with a virtual wall modeled as time-delayed discrete-time spring-damper system. Furthermore, the article proves that the recently found linear stability condition for haptic devices of Gil et al. still holds if a human is holding the haptic device. Finally, a relation to Colgatepsilas passivity condition defining a robustly stable region is given.
doi_str_mv 10.1109/IROS.2008.4650697
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subjects Damping
Delay
Haptic interfaces
Humans
Numerical stability
Stability analysis
Stability criteria
title Stability boundary for haptic rendering: Influence of human operator
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