1 Haptic Systems Mohsen Mahvash Lecture 13 26/1/06

2  An overview of the last lecture  Virtual coupling  Passivity controller  Multi-rate multi-model implementation  References Methods to stabilize haptic interactions with virtual environments

3 An overview of the last lecture Device Virtual Wall

4 Virtual couple Example Virtual Wall Virtual Couple

5 Calculating energy leak Is my program able to calculate energy leak? Virtual Wall absorbed energy by a virtual wall

6 Passivity controller Virtual Wall Virtual Wall+ Passivity Controller NO

7 Multi-rate multi-model rendering No energy leak at the moment of model switch Very high rate implementation high rate rendering low rate switch

8 Passive switching Virtual Wall NO Yes

9 References .J. E. Colgate and G. G. Schenkel, “Passivity of a class of sampled-data systems: Application to haptic interfaces,” J. Robot. Syst., vol. 14, no. 1, pp. 37–47,  B. Hannaford and J.-H. Ryu, “Stable haptic interaction with virtual environments,” in IEEE Trans. Robot. Autom., vol. 18, Feb. 2002, pp. 1– 10.  M. Mahvash and V. Hayward, “High-fidelity passive force-reflecting virtual environments,” IEEE Trans. Robot., vol. 21, no. 1, pp. 38–46, Feb  Mahvash, M., Hayward, V. 2003a. Passivity-Based High-Fidelity Haptic Rendering of Contact. Proc. IEEE Int. Conf. on Robotics and Automation. pp Stability and transparency of force-feedback telemanipulation systems Tomorrow