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.
A Method for Selecting Velocity Filter Cut-Off Frequency for Maximizing Impedance Width Performance in Haptic Interfaces
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.
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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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