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http://dx.doi.org/10.5762/KAIS.2019.20.6.396

Effects of a First-order-hold Method and a Virtual Damper on the Stability Boundary of a Virtual Spring  

Lee, Kyungno (School of Mechanical, Automotive and Aeronautical Engineering, Korea National University of Transportation)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.20, no.6, 2019 , pp. 396-401 More about this Journal
Abstract
A virtual rigid is modeled as the parallel structure of a virtual spring and a virtual damper. The reflective force from the virtual model is designed to be as large as possible to improve the realism of the virtual environment while maintaining the stable interaction. So, it is important to analyze the stability boundary of the virtual spring and damper. In the previous researches, the stability boundary is analyzed based on the zero-order-hold (ZOH) method, but it is analyzed based on the first-order-hold (FOH) method and the virtual damper in the paper. The boundary value of the stable virtual damper is inverse proportional to the sampling time and the maximum value of stable virtual stiffness is inverse proportional to the square of the sampling time. And the maximum value in the FOH method is increased to 110% of the value in the ZOH method. If the virtual damper is smaller than about 50% of the boundary value of the virtual damper in the FOH method, the stable virtual stiffness in the FOH method is several times larger than that in the ZOH method.
Keywords
First-Order-Hold Method(FOH); Haptic Interface; Stability Boundary; Virtual Damper; Virtual Reality;
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Times Cited By KSCI : 1  (Citation Analysis)
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