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A Heuristic Rule for the Performance Improvement in Time Domain Passivity Control of Haptic Interfaces  

Kim, Yoon-Sang (Department of Electrical Engineering, University of Washington)
Blake Hannaford (Department of Electrical Engineering, University of Washington)
Publication Information
Transactions on Control, Automation and Systems Engineering / v.4, no.3, 2002 , pp. 212-216 More about this Journal
Abstract
A practical issue is studied to improve the performance of a new energy based method of achieving stable, high performance haptic interface control. The issue is related to resetting the amount of energy accumulated in the Passivity Observer for faster operation. A heuristic method is derived and experimentally tested for the resetting and it is shown to help the PC to operate sooner when the system gets active. Experimental results are presented for the “Excalibur” haptic device.
Keywords
haptic interface; passivity observer; passivity controller; heuristic rule;
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