Using a wavelet network to characterize real environments for haptic display

Brian E. Miller*, Ed Colgate

*Corresponding author for this work

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

8 Scopus citations

Abstract

This paper will introduce a framework for characterizing real environments, using recorded force/displacement data, for use in haptic display. Steps in the framework include data acquisition, identification, model verification, and implementation. Identification and implementation will be developed in detail. After obtaining a conceptual understanding of the roles data acquisition and model verification play in the process, the methods used in this paper will be described. To meet the requirement for the identification stage, a proven technique in nonlinear system identification will be adopted. This technique, called wavelet network, will provide a tool that is capable of identifying environments with significant nonlinear features. A theoretical development along with experimental results will be presented using a spring attached to a wall. This environment exhibits a linear region with a single nonlinearity. The wavelet network was chosen because it was designed specifically for use with problems of high input dimension. Therefore, it is the expectation that the procedure will be useful in identifying environments of varying complexity. Currently, the technique can be used to identify static nonlinear environments. Work is being done to extend its capabilities to handle dynamic environments.

Original languageEnglish (US)
Title of host publicationDynamic Systems and Control Division
EditorsR.J. Furness
PublisherASME
Pages257-264
Number of pages8
Volume64
StatePublished - Dec 1 1998
EventProceedings of the 1998 ASME International Mechanical Engineering Congress and Exposition - Anaheim, CA, USA
Duration: Nov 15 1998Nov 20 1998

Other

OtherProceedings of the 1998 ASME International Mechanical Engineering Congress and Exposition
CityAnaheim, CA, USA
Period11/15/9811/20/98

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

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