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Passivity Analysis of Haptic Systems Interacting with Viscoelastic Virtual Environment

2009

Conference Paper

ei


Passivity analysis of any haptic system requires the knowledge of the environment impedance, i.e., parameters of the employed environment model. There have been a few models proposed to describe the viscoelastic behavior of soft tissues, including the popular Maxwell and Voigt models. This paper analyzes passivity of haptic systems interacting with virtual viscoelastic soft tissues. The Kelvin model is employed to represent better the behavior of the soft tissues. This passivity analysis reveals a new criterion for design and control of the haptic interface. Simulation results show that this new criterion increases the range of passive environment.

Author(s): Son, HI. and Bhattacharjee, T. and Lee, DY.
Journal: Proceedings of the 14th International Conference on Advanced Robotics (ICAR 2009)
Pages: 1-6
Year: 2009
Month: June
Day: 0
Publisher: IEEE

Department(s): Empirical Inference
Bibtex Type: Conference Paper (inproceedings)

Event Name: 14th International Conference on Advanced Robotics (ICAR 2009)
Event Place: München, Germany

Address: Piscataway, NJ, USA
Digital: 0
Institution: Institute of Electrical and Electronics Engineers
ISBN: 978-1-4244-4855-5
Language: en
Organization: Max-Planck-Gesellschaft
School: Biologische Kybernetik

Links: Web

BibTex

@inproceedings{6462,
  title = {Passivity Analysis of Haptic Systems Interacting with Viscoelastic Virtual Environment},
  author = {Son, HI. and Bhattacharjee, T. and Lee, DY.},
  journal = {Proceedings of the 14th International Conference on Advanced Robotics (ICAR 2009)},
  pages = {1-6},
  publisher = {IEEE},
  organization = {Max-Planck-Gesellschaft},
  institution = {Institute of Electrical and Electronics Engineers},
  school = {Biologische Kybernetik},
  address = {Piscataway, NJ, USA},
  month = jun,
  year = {2009},
  doi = {},
  month_numeric = {6}
}