This paper analyzes the effect of velocity filtering cut-off frequency on the Z-width performance of haptic interfaces. Finite difference method (FDM) cascaded with a low pass 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 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 based on an identified model of a haptic interface. Experiments are conducted on a single degree-of-freedom (DOF) linear haptic interface to validate the simulation results.
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February 2015
Technical Briefs
A Method for Selecting Velocity Filter Cut-Off Frequency for Maximizing Impedance Width Performance in Haptic Interfaces
Ozkan Celik
,
Ozkan Celik
Assistant Professor
Mem. ASME
Department of Mechanical Engineering,
e-mail: ocelik@mines.edu
Mem. ASME
Department of Mechanical Engineering,
Colorado School of Mines
,Golden, CO 80401
e-mail: ocelik@mines.edu
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Marcia K. O'Malley
Marcia K. O'Malley
1
Associate Professor
ASME Fellow
Department of Mechanical Engineering,
e-mail: omalleym@rice.edu
ASME Fellow
Department of Mechanical Engineering,
Rice University
,Houston, TX 77005
e-mail: omalleym@rice.edu
1Corresponding author.
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Vinay Chawda
Ozkan Celik
Assistant Professor
Mem. ASME
Department of Mechanical Engineering,
e-mail: ocelik@mines.edu
Mem. ASME
Department of Mechanical Engineering,
Colorado School of Mines
,Golden, CO 80401
e-mail: ocelik@mines.edu
Marcia K. O'Malley
Associate Professor
ASME Fellow
Department of Mechanical Engineering,
e-mail: omalleym@rice.edu
ASME Fellow
Department of Mechanical Engineering,
Rice University
,Houston, TX 77005
e-mail: omalleym@rice.edu
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received November 6, 2013; final manuscript received August 27, 2014; published online October 3, 2014. Assoc. Editor: Ryozo Nagamune.
J. Dyn. Sys., Meas., Control. Feb 2015, 137(2): 024503 (5 pages)
Published Online: October 3, 2014
Article history
Received:
November 6, 2013
Revision Received:
August 27, 2014
Citation
Chawda, V., Celik, O., and O'Malley, M. K. (October 3, 2014). "A Method for Selecting Velocity Filter Cut-Off Frequency for Maximizing Impedance Width Performance in Haptic Interfaces." ASME. J. Dyn. Sys., Meas., Control. February 2015; 137(2): 024503. https://doi.org/10.1115/1.4028526
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