Dynamic range of achievable impedances in force reflecting interfaces

J. Edward Colgate, Michael C. Stanley, Gerd G. Schenkel

Research output: Contribution to journalConference articlepeer-review

11 Scopus citations

Abstract

This paper addresses the performance of force-reflecting interfaces ("haptic displays"). We suggest that an important measure of performance is the dynamic range of achievable impedances, and that an impedance is achievable if it satisfies a robustness property such as passivity. The effects of sampling, inherent interface dynamics, and sensor quantization on dynamic range are discussed. Techniques for achieving very high impedances are presented.

Original languageEnglish (US)
Pages (from-to)199-210
Number of pages12
JournalProceedings of SPIE - The International Society for Optical Engineering
Volume2057
DOIs
StatePublished - Dec 21 1993
EventTelemanipulator Technology and Space Telerobotics 1993 - Boston, United States
Duration: Sep 7 1993Sep 10 1993

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

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