Dynamic range of achievable impedances in force-reflecting interfaces

J. Edward Colgate; Michael C. Stanley; G. G. Schenkel

doi:10.1117/12.164900

21 December 1993 Dynamic range of achievable impedances in force-reflecting interfaces

J. Edward Colgate, Michael C. Stanley, G. G. Schenkel

Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164900
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

This paper addresses the performance of force-reflecting interfaces (`haptic displays'). We suggest that an important measure of performance is the dynamic range of achievable impedances, and that an impedance is achievable if it satisfies a robustness property such as passivity. The effects of sampling, inherent interface dynamics, and sensor quantization on dynamic range are discussed. Techniques for achieving very high impedances are presented.

Citation Download Citation

J. Edward Colgate, Michael C. Stanley, and G. G. Schenkel "Dynamic range of achievable impedances in force-reflecting interfaces", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); https://doi.org/10.1117/12.164900

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