NDLI: Stable Haptic Display of Slowly Updated Virtual Environment with Multirate Wave Transform

Content Provider	IEEE Xplore Digital Library
Author	Changhyun Cho Munsang Kim Chang-Soon Hwang Jaehyung Lee Jae-Bok Song
Copyright Year	2005
Description	Author affiliation: Center for Intelligent Robotics 39-1, Hawolgok-dong, Seongbuk-gu, Seoul, 136-791, Korea chcho@kist.re.kr (Changhyun Cho)
Abstract	This paper proposes a control method that overcomes the instability arising from both the low update rates of the virtual environment (VE) and the time delay in a communication line. The instability arising from the time delay in a communication line can be overcome using the wave variables since time delay on the wave variables is passive. The so-called multirate control scheme is applied to cope with the problems presented by the low update rates of VE. Since digital sample and hold (rate transitions) can be represented as a series of time delay, the passive nature of time delay on the wave variables is applied. By computing the norm of the scattering matrix, it was verified that rate transitions on the wave variables are passive, thereby deriving a stable haptic interface with the multirate wave transform. Various experiments have shown that a stable force display is achieved with the multirate wave transform.
Starting Page	2465
Ending Page	2470
File Size	358943
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570482
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Displays Virtual environment Delay effects Scattering Intelligent robots Damping Communication system control Sampling methods Mechanical variables control low update rate Multirate wave transform wave variables scattered network
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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