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Proceedings Paper

Preliminary considerations on the design of controllers for haptic interfaces
Author(s): Giuseppe Maria Prisco; Massimo Bergamasco
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Paper Abstract

In this paper the design of controllers for haptic interfaces is discussed. A general methodology to model and design such kind of controllers is presented. Some useful tools for the analysis of stability and performance of haptic interfaces interacting with virtual environments are introduced. The design of a torque controller for a joint of an electrically actuated, tendon driven haptic interface is analyzed as an example.

Paper Details

Date Published: 12 December 1997
PDF: 10 pages
Proc. SPIE 3206, Telemanipulator and Telepresence Technologies IV, (12 December 1997); doi: 10.1117/12.295571
Show Author Affiliations
Giuseppe Maria Prisco, Scuola Superiore S. Anna (Italy)
Massimo Bergamasco, Scuola Superiore S. Anna (Italy)

Published in SPIE Proceedings Vol. 3206:
Telemanipulator and Telepresence Technologies IV
Matthew R. Stein, Editor(s)

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