Affiliations: [a] Gwangju Institute of Science and Technology (GIST),
Gwangju, Korea | [b] Korea Institute of Science and Technology (KIST),
Seoul, Korea | [c] Gwangju Institute of Science and Technology (GIST),
Gwangju, Korea
Correspondence:
[*]
Corresponding author. Gwangju Institute of Science and
Technology (GIST) 1, Oryong-dong, Buk-gu, Gwangju, 500-712, Korea. E-mail: [email protected]
Abstract: This paper presents a frequency-dependent damping element, called an
analog input shaper (AIS), to improve the stability of haptic interaction with
virtual or real environments. High frequency inputs to a haptic interface,
which usually occur in the collision with very stiff objects, can bring limit
cycle oscillations and instabilities. In order to reduce these high frequency
inputs and thus to improve the stability of haptic interaction, the AIS is
added to the haptic system. Moreover, the AIS is applied to a passivity-based
haptic stability control algorithm, called an energy-bounding algorithm (EBA),
to increase the displayed impedance range by the EBA. Through scaled
teleoperation experiments using an atomic force microscope (AFM), we show that
the AIS can enhance stability during haptic interaction and consequently
increase impedance range that a haptic interface can stably display. Also, we
show that the AIS can alleviate conservativeness of the passivity-based haptic
control algorithms.
