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 tenutosi a Pechino, Cina nel 9-15 Ottobre 2006.

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
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pechino, Cina
9-15 Ottobre 2006
2121
2126
Secchi, Cristian; Stramigioli, S; Fantuzzi, Cesare
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 tenutosi a Pechino, Cina nel 9-15 Ottobre 2006.
File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate

Caricamento pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/587851
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 5
  • ???jsp.display-item.citation.isi??? 1
social impact