Factors affecting the Z-width of a haptic display

Ed Colgate*, J. Michael Brown

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

454 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 - 'Z-Width' - and that an impedance is achievable if it satisfies a robustness property such as passivity. Several factors affecting Z-Width - sample-and-hold, inherent interface dynamics, displacement sensor quantization, and velocity filtering - are discussed. A set of experiments designed to evaluate these factors is described, and experimental results are presented. A striking result is that inherent interface damping exerts an overwhelming influence on Z-Width.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages3205-3210
Number of pages6
Editionpt 4
ISBN (Print)0818653329
StatePublished - Jan 1 1994
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
Duration: May 8 1994May 13 1994

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation
CitySan Diego, CA, USA
Period5/8/945/13/94

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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