Abstract
One of the most important issues in haptic interface design is to achieve stable interaction between the haptic display and the virtual environment for any operating conditions and for any virtual environment parameters. Recently, Hannaford and Ryu [10,11,16] proposed an energy based method, whose components are termed the “Passivity Observer” (PO) and “Passivity Controller” (PC). Force and velocity are the key variables which define the nature of haptic contact. If the system has initial stored energy at t = 0 of E(0), we can use the following widely known definition of passivity.
We are pleased to acknowledge research support from Ford Motor Company and the Government of Korea.
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Hannaford, B., Ryu, JH., Kwon, DS., Kim, Y.S., Song, JB. (2003). Testing Time Domain Passivity Control of Haptic Enabled Systems. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_50
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DOI: https://doi.org/10.1007/3-540-36268-1_50
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