In several applications involving haptic interfaces it can be desirable to scale the interaction force perceived by the user. The most intuitive approach is to change the stiffness of the virtual environment but, unfortunately, changing the physical parameters that characterize a virtual environment is a potentially destabilizing action. In this paper we embed in the intrinsically passive haptic scheme recently proposed in S. Stramigioli et al. (2005) a power scaling interconnection that allows to scale the force perceived by the user while preserving the passivity, and consequently the stable behavior, of the overall system
Intrinsically Passive Force Scaling in Haptic Interfaces / Secchi, Cristian; Stramigioli, S; Fantuzzi, Cesare. - ELETTRONICO. - (2006), pp. 2121-2126. (Intervento presentato al convegno 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 tenutosi a Beijing, chn nel 9-15 Ottobre 2006) [10.1109/IROS.2006.282491].
Intrinsically Passive Force Scaling in Haptic Interfaces
SECCHI, Cristian;FANTUZZI, Cesare
2006
Abstract
In several applications involving haptic interfaces it can be desirable to scale the interaction force perceived by the user. The most intuitive approach is to change the stiffness of the virtual environment but, unfortunately, changing the physical parameters that characterize a virtual environment is a potentially destabilizing action. In this paper we embed in the intrinsically passive haptic scheme recently proposed in S. Stramigioli et al. (2005) a power scaling interconnection that allows to scale the force perceived by the user while preserving the passivity, and consequently the stable behavior, of the overall system
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