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Conference Paper

Passivity Analysis of Haptic Systems Interacting with Viscoelastic Virtual Environment

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http://pubman.mpdl.mpg.de/cone/persons/resource/persons84227

Son,  HI
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

Son, H., Bhattacharjee, T., & Lee, D. (2009). Passivity Analysis of Haptic Systems Interacting with Viscoelastic Virtual Environment. In 14th International Conference on Advanced Robotics (ICAR 2009) (pp. 1-6). Piscataway, NJ, USA: IEEE.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-C49D-7
Abstract
Passivity analysis of any haptic system requires the knowledge of the environment impedance, i.e., parameters of the employed environment model. There have been a few models proposed to describe the viscoelastic behavior of soft tissues, including the popular Maxwell and Voigt models. This paper analyzes passivity of haptic systems interacting with virtual viscoelastic soft tissues. The Kelvin model is employed to represent better the behavior of the soft tissues. This passivity analysis reveals a new criterion for design and control of the haptic interface. Simulation results show that this new criterion increases the range of passive environment.