Abstract
This paper presents a passivity condition of a haptic interface with the multirate wave transform (MWT). Although rate transitions at the wave communication line are achieved passively, the sample-and-hold for the continuous system still generates energy. Since the update rates of the sample-and-hold are high (or assumed to be high) in most cases, its effects are often ignored. However, as the update rate of the sample-and-hold decreases, more energy is generated and the whole haptic interface consequently becomes active. A passivity condition is derived for a system consisting of the sample-and-hold, MWT, and virtual environment (VE). An example study has shown that the minimum update rate of the sample-and-hold can be obtained by investigating the passivity condition. Experiments also have shown that stable force displays can be achieved with the proposed update rates.
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Recommended by Editorial Board member Hyoukryeol Choi under the direction of Editor Jae-Bok Song. This research was supported by the MKE (The Ministry of Knowledge Economy), Korea, under the ITRC (Information Technology Research Center) support program supervised by the NIPA (National IT Industry Promotion Agency) (NIPA-2010-C1090-1021-0013).
Changhyun Cho received his B.S. and M.S. degrees in Mechanical Engineering from Kyunghee University, Korea, in 1997 and 1999, respectively, and his Ph.D. degree in Mechanical Engineering from Korea University, Korea, in 2005. He was with the Center for Intelligent Robotics, Frontier 21 Program, at KIST from 2005 to Aug. 2008. He joined the faculty of the Dept. of Control, Instruments, and Robot, Chosun University, Kwangju, Korea in 2008, where he has been an Assistant Professor since 2008. His current research interests are in the fields of mechanism design and the control of robotic systems.
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Cho, C. Effect of sample-and-hold on a haptic interface with the multirate wave transform. Int. J. Control Autom. Syst. 8, 1250–1256 (2010). https://doi.org/10.1007/s12555-010-0610-0
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DOI: https://doi.org/10.1007/s12555-010-0610-0