Haptic interaction with constrained dynamic systems

Eric L. Faulring*, Kevin M. Lynch, J. Edward Colgate, Michael A. Peshkin

*Corresponding author for this work

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

10 Scopus citations


In this paper we are concerned with allowing the operator of a haptic display to interact with virtual systems having significant inertial dynamics and realistic constraints. We review the mathematical structure arising from the kinetic energy metric, required to create a virtual dynamics simulation consisting of rigid-body dynamics along with holonomic and/or nonholonomic motion constraints. We develop an admittance controller composed of feedforward and feedback terms, while preserving the integrity of the intended virtual dynamics simulation. This controller is implemented on the Cobotic Hand Controller, an admittance-type haptic display, and two examples are discussed.

Original languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Number of pages7
StatePublished - 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Other2005 IEEE International Conference on Robotics and Automation


  • Cobots
  • Haptics
  • Hybrid control
  • Rigid-body dynamics
  • Virtual surfaces

ASJC Scopus subject areas

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


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