Dr Aghil Jafari's Outputs (3)

Realizing low-impedance rendering in admittance-type haptic interfaces using the input-to-state stable approach (2017)
Presentation / Conference Contribution

© 2017 IEEE. This paper proposes an approach to enlarge the impedance range of admittance-type haptic interfaces. Admittance-type haptic interfaces have advantages over impedance-type haptic interfaces in the interaction with high impedance virtual e... Read More about Realizing low-impedance rendering in admittance-type haptic interfaces using the input-to-state stable approach.

The Input-to-State Stable (ISS) approach for stabilizing haptic interaction with virtual environments (2017)
Journal Article

© 2004-2012 IEEE. Passivity has been a major criterion for designing a stable haptic interface due to its numerous advantages. However, passivity-based controllers have suffered from the design conservatism of the passivity criterion, particularly wh... Read More about The Input-to-State Stable (ISS) approach for stabilizing haptic interaction with virtual environments.

Increasing the rate-hardness of haptic interaction: Successive force augmentation approach (2017)
Presentation / Conference Contribution

There have been numerous approaches that have been proposed to enlarge the impedance range, however it is still a challenging issue to increase the rate-hardness of haptic interaction while maintaining stability. The actual perceived rate-hardness ha... Read More about Increasing the rate-hardness of haptic interaction: Successive force augmentation approach.