Factors affecting the Z-width of a haptic display

Ed Colgate; J. Michael Brown

Factors affecting the Z-width of a haptic display

Ed Colgate^*, J. Michael Brown

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

550 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 language	English (US)
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Publ by IEEE
Pages	3205-3210
Number of pages	6
Edition	pt 4
ISBN (Print)	0818653329
State	Published - Jan 1 1994
Event	Proceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA Duration: May 8 1994 → May 13 1994

Other

Other	Proceedings of the 1994 IEEE International Conference on Robotics and Automation
City	San Diego, CA, USA
Period	5/8/94 → 5/13/94

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Cite this

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title = "Factors affecting the Z-width of a haptic display",

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.",

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AU - Brown, J. Michael

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AB - 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.

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Y2 - 8 May 1994 through 13 May 1994

ER -

Factors affecting the Z-width of a haptic display

Abstract

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ASJC Scopus subject areas

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