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Virtual Contact Dynamics Behaviour in Haptic Interfacing

[+] Author Affiliations
Sara Shayan Amin, László L. Kovács, József Kövecses

McGill University, Montreal, QC, Canada

Paper No. DETC2013-13411, pp. V07AT10A059; 8 pages
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5596-6
  • Copyright © 2013 by ASME


The key element in haptic interfacing is the virtual contact representation that connects the virtual environment to the human via the haptic device. The properties of virtual contact can determine the quality of the haptic interfacing. In this work, we particularly investigate how the mechanical and structural properties can influence the virtual contact behaviour. To this end, representative models are incorporated, where the effective parameters are directly connected to physical and structural properties of the system. Virtual contact behaviour is then investigated via parametric stability analysis, and corresponding spectral radius of the transition matrix is selected as a performance indicator. It is shown that structural flexibility plays an important role in the quality of the haptic interfacing. As an example, rendering virtual walls with different impedances are considered and for each case the optimum effective parameters of the model is obtained for fidelity improvement.

Copyright © 2013 by ASME



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