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Effects of a Frequency-Dependent Dissipative Element in Haptic Interaction

  • Conference paper
Intelligent Autonomous Systems 12

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 194))

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Abstract

This paper presents an analytical investigation into effects of a frequency-dependent dissipative element added to a haptic interaction system. A stably displayable impedance range is analyzed by a discrete-time model of a haptic system with a frequency-dependent dissipative element that can reduce the high frequency inputs causing instability in a haptic system. A frequency-dependent dissipative element can, however, reduce the displayable impedance range by generating excessive energy. It is also shown that the generated energy may be reduced by including two linear half-wave rectifiers to a dissipative element, which in turn increases the stably displayable impedance range.

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Correspondence to Yo-An Lim .

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Lim, YA., Ryu, J. (2013). Effects of a Frequency-Dependent Dissipative Element in Haptic Interaction. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_11

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  • DOI: https://doi.org/10.1007/978-3-642-33932-5_11

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33931-8

  • Online ISBN: 978-3-642-33932-5

  • eBook Packages: EngineeringEngineering (R0)

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