Minimum mass for haptic display simulations

J. Michael Brown*, Ed Colgate

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

31 Scopus citations


This paper addresses the issue of providing stability guarantees during the implementation of multibody simulations for haptic display. Within the framework of the virtual coupling, we discuss the passivity of the haptic display. Previous work has established that, if the numerical methods used in the virtual environment are discrete time passive, it is possible to decouple the stability of the device from the virtual environment simulation. In the present work, we prove that discrete time passive operators must be implicit, making them unlikely candidates for real time implementation. Given restrictions on environment parameters, however, passivity can sometimes be preserved even when using explicit numerical methods. An important benchmark simulation is that of a point mass, and restrictions take the form of a minimum mass that can be simulated passively. This minimum mass is derived for several simple numerical integrator-virtual coupling pairs.

Original languageEnglish (US)
Number of pages8
StatePublished - Dec 1 1998
EventProceedings of the 1998 ASME International Mechanical Engineering Congress and Exposition - Anaheim, CA, USA
Duration: Nov 15 1998Nov 20 1998


OtherProceedings of the 1998 ASME International Mechanical Engineering Congress and Exposition
CityAnaheim, CA, USA

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering


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