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http://dx.doi.org/10.5762/KAIS.2017.18.1.572

Impact Analysis of Communication Time Delay and Properties of a Haptic Device on Stability Boundary for a Haptic System with a First-Order Hold  

Lee, Kyungno (Department of Energy System Engineering, Korea National University of Transportation)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.18, no.1, 2017 , pp. 572-578 More about this Journal
Abstract
Haptic systems help users feel a realistic sensation when they manipulate virtual objects in the remote virtual environment. However, there are communication time delays that may make the haptic system unstable. This paper shows the relationship between communication time delay, properties of a haptic device, and the stability of the haptic system with the first-order hold method in a simulation. The maximum available stiffness of a virtual spring with the first-order hold method is larger than in the zero-order hold method when there is no time delay. However, when the communication time delay is much larger than the sampling time, the maximum available stiffness to guarantee the stability becomes the same, irrespective of the sample-hold methods. Besides, the maximum available stiffness increases in inverse proportion to the communication time delay and in proportional to the damping coefficient of the haptic device.
Keywords
Communication Time Delay; First-Order-Hold; Haptic Device; Haptics; Stability;
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Times Cited By KSCI : 2  (Citation Analysis)
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