Extending the Z-Width of a Haptic Device Using Acceleration Feedback

Abstract. This paper proposes a nonlinear controller to extend the Zwidth of a haptic device. A time-domain passivity analysis of the Z-width diagram leads to the new haptic controller, which employs acceleration feedback. The passivity condition for one degree of freedom (1DOF) haptic interaction with a virtual wall via the proposed controller is derived using passivity theory in the frequency domain. The perfomance of the proposed controller is validated experimentally on a PHANTOM Omni haptic device. The experiments illustrate that the new controller considerably extends the Z-witdh of the haptic interface.

• Type: Conference
• Year: 2008
• Where: HAPTICS
• Authors: Naser Yasrebi, Daniela Constantinescu
• Keywords: Haptic Device, HAPTICS 2008, Omni Haptic Device, Time-domain Passivity Analysis, Virtual Reality