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http://dx.doi.org/10.5302/J.ICROS.2003.9.8.610

Nonlinear Virtual Coupling for Stable Haptic Interaction  

이문환 (한국과학기술원 기계공학과)
이두용 (한국과학기술원 기계공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.9, no.8, 2003 , pp. 610-615 More about this Journal
Abstract
This paper proposes a nonlinear virtual coupling fur haptic interface, which offers better performance while maintaining stability of the system. The nonlinear virtual coupling is designed based on a human response model. This human response model exploits delay between the human Intention and the actual change of arm impedance. The proposed approach provides with less conservative constraints for the design of stable haptic interface, compared with the traditional passivity condition. This allows increased performance that is verified through experiments.
Keywords
nonlinear virtual coupling; haptic interface; haptic stability; human response model;
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Times Cited By KSCI : 1  (Citation Analysis)
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