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Virtual inertia as an energy dissipation element for haptic interfaces

Choi, Hyeon-Seok; Kim, Nam Gyun; Jafari, Aghil; Singh, Harsimran; Ryu, Jee Hwan

Authors

Hyeon-Seok Choi

Nam Gyun Kim

Harsimran Singh

Jee Hwan Ryu



Abstract

Adding virtual damping to dissipate energy has been a major tool for designing stable haptic interfaces in most passivity-based approaches. However, virtual damping is known to dissipate a limited amount of energy. It even generates energy during high-velocity interaction because of the digitization effect, such as zero-order hold and quantization. Therefore, no proper energy dissipation element has been available to stabilize the interaction when the virtual damping is no longer functioning. This paper investigates the possibility of using virtual inertia as a complementary energy dissipation element of virtual damping for stable haptic interfaces. This paper analyzes the energy behavior of virtual inertia in the digital domain and finds that it can dissipate energy even in higher velocity interactions, unlike digital damping and digital springs. Furthermore, this paper proposes a unidirectional virtual inertia that can dissipate a considerable amount of energy compared with the conventional virtual inertia by storing energy and disappearing without returning it to the system. Simulation and experimental studies using a PHANToM haptic interface proved the performance of the proposed method.

Citation

Choi, H., Kim, N. G., Jafari, A., Singh, H., & Ryu, J. H. (2022). Virtual inertia as an energy dissipation element for haptic interfaces. IEEE Robotics and Automation Letters, 7(2), 2708-2715. https://doi.org/10.1109/LRA.2022.3144492

Journal Article Type Article
Acceptance Date Jan 6, 2022
Online Publication Date Jan 21, 2022
Publication Date Apr 1, 2022
Deposit Date Mar 9, 2022
Publicly Available Date Mar 28, 2024
Journal IEEE Robotics and Automation Letters
Print ISSN 2377-3766
Electronic ISSN 2377-3766
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 7
Issue 2
Pages 2708-2715
DOI https://doi.org/10.1109/LRA.2022.3144492
Public URL https://uwe-repository.worktribe.com/output/8810601