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Proceedings Paper

Dynamic range of achievable impedances in force-reflecting interfaces
Author(s): J. Edward Colgate; Michael C. Stanley; G. G. Schenkel
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Paper Abstract

This paper addresses the performance of force-reflecting interfaces (`haptic displays'). We suggest that an important measure of performance is the dynamic range of achievable impedances, and that an impedance is achievable if it satisfies a robustness property such as passivity. The effects of sampling, inherent interface dynamics, and sensor quantization on dynamic range are discussed. Techniques for achieving very high impedances are presented.

Paper Details

Date Published: 21 December 1993
PDF: 12 pages
Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); doi: 10.1117/12.164900
Show Author Affiliations
J. Edward Colgate, Northwestern Univ. (United States)
Michael C. Stanley, Northwestern Univ. (United States)
G. G. Schenkel, Northwestern Univ. (United States)


Published in SPIE Proceedings Vol. 2057:
Telemanipulator Technology and Space Telerobotics
Won Soo Kim, Editor(s)

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