This paper analyzes the effect of velocity filtering cut-off frequency on the Z-width performance in haptic interfaces. Finite Difference Method (FDM) cascaded with a lowpass filter is the most commonly used technique for estimating velocity from position data in haptic interfaces. So far, there is no prescribed method for obtaining the FDM+filter cut-off frequency that will maximize the Z-width performance. We present a simulation based method to demonstrate that there exists such an ideal FDM+filter cut-off frequency, and that it can be predicted by numerical simulation. Experiments are conducted on a single degree-of-freedom linear haptic interface to validate the simulation results.
- Dynamic Systems and Control Division
A Method for Selecting Velocity Filter Cutoff Frequency for Maximizing Impedance Width Performance in Haptic Interfaces
Chawda, V, Celik, O, & O’Malley, MK. "A Method for Selecting Velocity Filter Cutoff Frequency for Maximizing Impedance Width Performance in Haptic Interfaces." Proceedings of the ASME 2013 Dynamic Systems and Control Conference. Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems. Palo Alto, California, USA. October 21–23, 2013. V002T26A001. ASME. https://doi.org/10.1115/DSCC2013-3701
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