This paper provides a convenient framework based on passivity and linear matrix inequalities for stability analysis and virtual coupling design for multi-contact haptic systems. The proposed approach exploits peculiar features of the multi-contact scenario and allows for taking into account structural constraints such as operator location, decentralization or limited communication. A method for the design and implementation of structured virtual couplings whose impact on the realism of interaction can be qualitatively tuned, is proposed.
Bianchini, G., M., O., Prattichizzo, D. (2007). Analysis and Design of Multi-contact Haptic Systems: an LMI approach. In 2007 46th IEEE Conference on Decision and Control (pp.5761-5766). New York : IEEE [10.1109/CDC.2007.4434863].
Analysis and Design of Multi-contact Haptic Systems: an LMI approach
BIANCHINI, GIANNI;PRATTICHIZZO, DOMENICO
2007-01-01
Abstract
This paper provides a convenient framework based on passivity and linear matrix inequalities for stability analysis and virtual coupling design for multi-contact haptic systems. The proposed approach exploits peculiar features of the multi-contact scenario and allows for taking into account structural constraints such as operator location, decentralization or limited communication. A method for the design and implementation of structured virtual couplings whose impact on the realism of interaction can be qualitatively tuned, is proposed.
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https://hdl.handle.net/11365/19150