Conference
Adaptive Control for High-fidelity Haptic Interaction with Virtual Environments
Abstract
An adaptive nonlinear controller is proposed that can couple impedance-type haptic devices with admittance-type virtual environments. The controller, which takes into account the nonlinear dynamics of the haptic device and parametric uncertainty in the user's arm dynamics, replaces the natural dynamics of the interface with that of a mass-type virtual tool. The transparency and stability of the proposed haptic control system is investigated …
Authors
Abdossalami A; Sirouspour S
Pagination
pp. 3014-3020
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
September 1, 2008
DOI
10.1109/iros.2008.4651152
Name of conference
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems