Robotics: Science and Systems VIII

M-Width: Stability and Accuracy of Haptic Rendering of Virtual Mass

Nick Colonnese, Allison Okamura


"In many physical human-robot interaction scenarios, such as haptic virtual environments for training and rehabilitation, it is desirable to carefully control the apparent inertia of a robot. Inertia compensation can be used to mitigate forces felt by the user during free-space motion, and rendering of additional inertia is desired for particular rehabilitation and training procedures. Many factors influence the stability and accuracy of rendering for haptic display of a pure mass, including device mechanical properties, sample rate, control structure, and human behavior. Inspired by the ""Z-Width"" approach to haptic device stability and performance analysis, we introduce ""M-width"", which we define as the dynamic range of virtual masses renderable in a stable manner. We identify the important parameters for system stability, find stability boundaries, and describe the expected accuracy of the haptic rendering for a canonical haptic system. These results serve as a design tool for designing haptic environments implementing mass, establish limits of performance, and lay the groundwork for new controllers to improve mass rendering."



    AUTHOR    = {Nick Colonnese AND Allison Okamura}, 
    TITLE     = {M-Width: Stability and Accuracy of Haptic Rendering of Virtual Mass}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2012}, 
    ADDRESS   = {Sydney, Australia}, 
    MONTH     = {July},
    DOI       = {10.15607/RSS.2012.VIII.006}