Measuring and increasing Z-width with active electrical damping

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

53 Scopus citations

Abstract

The "Z-Width" of a haptic display is the dynamic range of impedances that can be passively rendered. Haptic displays with larger Z-width generally render more realistic feeling virtual environments. We present a new method for measuring and displaying the Zwidth of a haptic display. Instead of stiffness-damping plots, we believe a more illustrative technique for plotting the Z-width of a haptic interface is the envelope of achievable passive impedances as a function of frequency. Both hardware and analysis software for this new type of Z-width measurement are discussed. As previous research has shown, the maximum passive impedance that a device can render is directly related to the physical damping available in the mechanism. In an effort to maximize the Z-width of the haptic display, we present a new technique for adding physical damping to a haptic display through the use of analog electronics in the motor amplifier. Due to its electrical nature, active electrical damping has the benefit of dynamically variable parameters with no added mechanical complexity or mass. With the addition of active electrical damping, we show a performance improvement via a larger Z-width and larger range of passive virtual environment parameters.

Original languageEnglish (US)
Title of host publicationSymposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics
Pages169-175
Number of pages7
DOIs
StatePublished - Aug 25 2008
EventSymposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Haptics - Reno, NV, United States
Duration: Mar 13 2008Mar 14 2008

Publication series

NameSymposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Proceedings, Haptics

Other

OtherSymposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008 - Haptics
CountryUnited States
CityReno, NV
Period3/13/083/14/08

Keywords

  • H.5.2 [user interfaces]: haptic I/O - Rendering
  • H.5.2 [user interfaces]: haptic I/O - Z-width
  • H.5.2 [user interfaces]: haptic I/O - haptic displays

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Measuring and increasing Z-width with active electrical damping'. Together they form a unique fingerprint.

Cite this