Passivity-based high-fidelity haptic rendering of contact

• Published in: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Vol. 3; pp. 3722 - 3728 vol.3
• Main Authors: Mahvash, M., Hayward, V.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 2003
• Subjects: Control systems; Deformable models; Delay effects; Embedded computing; Haptic interfaces; Machine intelligence; Physics; Process design; Stability; Virtual environment
• ISBN: 0780377362; 9780780377363
• ISSN: 1050-4729; 2577-087X
• DOI: 10.1109/ROBOT.2003.1242168

A method is described whereby the virtual haptic interaction with deformable elastic objects is created in terms of two processes: a slow process which carries on the simulation, and a fast process to render forces. Passivity theory is used to design an update strategy which reproduces exactly pre-computed responses between a tool and an object. This yields a design procedure for adjustable local models which guarantee the passivity of the interaction while preserving fidelity. Two examples of local models are given and some experimental results are reported.