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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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
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