research-article

Enhancing the Z-width of Haptics Interfaces through Dual-rate Sampling

Authors:

S. K. SahaAuthors Info & Claims

AIR '13: Proceedings of Conference on Advances In Robotics

Pages 1 - 6

https://doi.org/10.1145/2506095.2506154

Published: 04 July 2013 Publication History

Abstract

Conventional controllers used in haptic devices are sampled data systems in which the position and velocity of the device is required to realize a visco-elastic virtual wall interaction. Increasing the sampling rate of the controller improves the stable range of virtual wall stiffness but simultaneously exacerbates the estimated velocity. This inefficient velocity estimation limits the implementation range of virtual damping at higher sampling rates, thereby reducing the dynamic range of stable impedance or Z-width of the haptics controller. A dual-rate sampling scheme is proposed here for such controllers, whereby the position and velocity loop is sampled at different rates. Implications of the proposed scheme on the Z-width of haptics controller using a 1-DOF (Degree-of-Freedom) custom haptic device is discussed. Experimental results demonstrate the effectiveness of proposed scheme, particularly at higher sampling rates.

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Cited By

Pecly LHashtrudi-Zaad K(2024)Analog Position Estimation for Enhanced Stability and Fidelity of Haptic SystemsIEEE Transactions on Haptics10.1109/TOH.2024.337138917:4(676-688)Online publication date: 1-Oct-2024
https://dl.acm.org/doi/10.1109/TOH.2024.3371389
Hejrati MMattila J(2023)Nonlinear Subsystem-Based Adaptive Impedance Control of Physical Human-Robot-Environment Interaction in Contact-Rich TasksIEEE Robotics and Automation Letters10.1109/LRA.2023.33026168:10(6083-6090)Online publication date: Oct-2023
https://doi.org/10.1109/LRA.2023.3302616
Tiwari ASaha SKumar S(2022)Improved Dual Haptic Controller with Extra Virtual Damper for Z-Width Enhancement2022 Third International Conference on Intelligent Computing Instrumentation and Control Technologies (ICICICT)10.1109/ICICICT54557.2022.9917859(78-81)Online publication date: 11-Aug-2022
https://doi.org/10.1109/ICICICT54557.2022.9917859
Show More Cited By

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Enhancing the Z-width of Haptics Interfaces through Dual-rate Sampling

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Published In

cover image ACM Other conferences

AIR '13: Proceedings of Conference on Advances In Robotics

July 2013

366 pages

ISBN:9781450323475

DOI:10.1145/2506095

Co-chairs:
Alok Mukherjee
R&DE (Engrs.), Pune
,
Anuj Kapuria
Hi-Tech Robotic Systemz Ltd, Gurgaon
,
Program Chairs:
Tom Shibata
NIST, Japan
,
Santanu Chaudhury
IIT Delhi, India
,
Publications Chair:
Subir Kumar Saha
IIT Delhi, India

Copyright © 2013 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Published: 04 July 2013

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AIR '13

AIR '13: Advances In Robotics 2013

July 4 - 6, 2013

Pune, India

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Cited By

Pecly LHashtrudi-Zaad K(2024)Analog Position Estimation for Enhanced Stability and Fidelity of Haptic SystemsIEEE Transactions on Haptics10.1109/TOH.2024.337138917:4(676-688)Online publication date: 1-Oct-2024
https://dl.acm.org/doi/10.1109/TOH.2024.3371389
Hejrati MMattila J(2023)Nonlinear Subsystem-Based Adaptive Impedance Control of Physical Human-Robot-Environment Interaction in Contact-Rich TasksIEEE Robotics and Automation Letters10.1109/LRA.2023.33026168:10(6083-6090)Online publication date: Oct-2023
https://doi.org/10.1109/LRA.2023.3302616
Tiwari ASaha SKumar S(2022)Improved Dual Haptic Controller with Extra Virtual Damper for Z-Width Enhancement2022 Third International Conference on Intelligent Computing Instrumentation and Control Technologies (ICICICT)10.1109/ICICICT54557.2022.9917859(78-81)Online publication date: 11-Aug-2022
https://doi.org/10.1109/ICICICT54557.2022.9917859
Pecly LHashtrudi-Zaad K(2022)Uncoupled Stability of Kinesthetic Haptic Systems Simulating Mass-Damper-Spring Environments with Complementary Filter2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)10.1109/AIM52237.2022.9863311(97-102)Online publication date: 11-Jul-2022
https://doi.org/10.1109/AIM52237.2022.9863311
Pecly LHashtrudi-Zaad K(2021)Analog Position using Sensor Fusion for Haptic Systems Control2021 IEEE World Haptics Conference (WHC)10.1109/WHC49131.2021.9517229(391-396)Online publication date: 6-Jul-2021
https://doi.org/10.1109/WHC49131.2021.9517229
Desai IGupta AChakraborty D(2019)Rendering Stiff Virtual Walls Using Model Matching Based Haptic ControllerIEEE Transactions on Haptics10.1109/TOH.2019.289392612:2(166-178)Online publication date: 1-Apr-2019
https://doi.org/10.1109/TOH.2019.2893926
Desai IGupta AChakraborty D(2018)Rendering mass using model matching framework2018 IEEE Haptics Symposium (HAPTICS)10.1109/HAPTICS.2018.8357151(46-51)Online publication date: Mar-2018
https://doi.org/10.1109/HAPTICS.2018.8357151
Koul MManivannan MSaha S(2018)Effect of Dual-rate Sampling on the Stability of a Haptic InterfaceJournal of Intelligent and Robotic Systems10.1007/s10846-017-0691-691:3-4(479-491)Online publication date: 1-Sep-2018
https://dl.acm.org/doi/10.1007/s10846-017-0691-6
Desai IGupta AChakraborty D(2017)A model matching framework for haptic controller design2017 American Control Conference (ACC)10.23919/ACC.2017.7963178(1580-1585)Online publication date: May-2017
https://doi.org/10.23919/ACC.2017.7963178

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