Accession Number:

ADA370316

Title:

Stable Haptic Interaction With Virtual Environments

Descriptive Note:

Dissertation

Corporate Author:

WASHINGTON UNIV SEATTLE DEPT OF ELECTRICAL ENGINEERING

Personal Author(s):

Report Date:

1999-10-19

Pagination or Media Count:

132.0

Abstract:

A haptic interface is a kinesthetic link between a human operator and a virtual environment. It allows the user of a virtual reality system to feel objects in a virtual world. This dissertation addresses fundamental stability and performance issues associated with haptic interaction. It generalizes and extends the concept of a virtual coupling network, an artificial link between the haptic display and a virtual environment, to include both impedance and admittance models of haptic interaction. A benchmark example is used to expose an important duality between these two cases. Linear circuit theory is employed to develop necessary and sufficient conditions for the stability of a haptic simulation, assuming the human operator and virtual environment are passive. This approach leads to design procedures for virtual coupling networks which give maximum performance while guaranteeing stability.

Subject Categories:

  • Cybernetics
  • Human Factors Engineering and Man Machine Systems

Distribution Statement:

APPROVED FOR PUBLIC RELEASE