Abstract
Haptic interfaces are computer-controlled motorized devices that physically interact with human operators to render presence of computationally mediated environments. Ideal haptic devices are desired to withstand human applied forces with very high stiffness and be capable of displaying a full range of impedances down to the minimum value humans can perceive. The performance of a haptic interface under closed loop control is measured by the transparency of the display, that is, by quantifying the correspondence between the desired and actually rendered impedance values. During haptic rendering, the haptic interface is coupled to the control system and its existence results in parasitic effects on the displayed impedances, deteriorating the perfect transparency. Therefore, independent of the control algorithm, both the kinematic and dynamic performance of the haptic device have an impact on the overall performance of the haptic display
| Original language | American English |
|---|---|
| Title of host publication | Advances in Haptics |
| State | Published - 2010 |
| Externally published | Yes |
EGS Disciplines
- Mechanical Engineering