The stable simulation of high-stiffness surfaces remains a challenge in impedance-type haptic simulation of mechanical environments. In this paper, the authors propose an approach to achieving a stable, high-stiffness surface in a haptic interface by leveraging the open-loop properties of pneumatic actuators. By utilizing the open-loop component of actuator stiffness as the primary component of stiffness simulation in a haptic interface, the system requires a comparatively small component of simulated stiffness from closed-loop control of the actuator. A stability analysis is presented indicating that this approach enhances significantly the range of passivity of haptically simulated high-stiffness surfaces. Experimental results both with and without a human operator are presented that demonstrate the effectiveness of the approach.
Leveraging the Open-Loop Stiffness of Pneumatic Actuators to Enable High-Stiffness Surface Simulation in Impedance-Type Haptic Interfaces
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Shen, X, & Goldfarb, M. "Leveraging the Open-Loop Stiffness of Pneumatic Actuators to Enable High-Stiffness Surface Simulation in Impedance-Type Haptic Interfaces." Proceedings of the ASME 2005 International Mechanical Engineering Congress and Exposition. Dynamic Systems and Control, Parts A and B. Orlando, Florida, USA. November 5–11, 2005. pp. 1421-1428. ASME. https://doi.org/10.1115/IMECE2005-80052
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