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Improved Haptic Two-Port Networks Through Force Feedback and Admittance/Impedance Network Duality

[+] Author Affiliations
Lawrence J. Tognetti, Wayne J. Book

Georgia Institute of Technology

Paper No. IMECE2005-81400, pp. 1551-1561; 11 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


This paper uses the two–port network with virtual coupling paradigm to analyze various haptic system architectures. Haptic Two–Port Network (H2 PN) numerical tuning algorithms and analysis techniques based on Llewelyn Stability Criterion are presented and lay the groundwork for testing haptic networks on HuRBiRT (Human Robotic Bilateral Research Tool), a large scale nonlinear hybrid active / passive haptic device. This paper presents the addition of local force feedback to the Impedance / Admittance (I/A) H2 PN to form the true dual of the Admittance / Impedance (A/I) H2 PN and explores alternative impedance and admittance virtual coupling forms. First, I/A and A/I H2 PN’s are numerically tuned using a linearized dynamic model of HuRBiRT and resulting admittance and impedance limits of the respective networks are compared to add insight on the duality of the two different implementations of haptic causality, with specific consideration given to the advantage of adding force feedback to the impedance network and selection of virtual coupling form. Second, I/A and A/I H2 PN’s are experimentally validated on HuRBiRT and resulting experimental networks are directly compared to those numerically formulated through use of HuRBiRT’s linearized dynamic models.

Copyright © 2005 by ASME



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