Journal article
Adaptive Control for Improved Transparency in Haptic Simulations
Abstract
Two adaptive nonlinear controllers are proposed for the coupling of haptic devices with impedance-type and admittance-type virtual environments, respectively. Rigid contacts in admittance-type environments are modeled either as a stiff spring or a constraint on the haptic device motion. Both controllers employ user position and force measurements to replace the natural dynamics of the haptic interface with that of an adjustable mass-damper …
Authors
Abdossalami A; Sirouspour S
Journal
IEEE Transactions on Haptics, Vol. 2, No. 1, pp. 2–14
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
2009
DOI
10.1109/toh.2008.18
ISSN
1939-1412