Six degree-of-freedom energy bounding algorithm for stable and directionally transparent haptic interaction

This paper proposes a 6-DOF energy bounding algorithm (EBA) for stable and directionally transparent 6-DOF haptic interaction. The proposed 6-DOF algorithm can solve the problem that the direction of the force vector can be distorted if the original EBA shortens the magnitude of each component of force vector for guaranteeing stability in some directions. The proposed solution is based on guaranteeing passivity on each direction and projecting the direction of the resultant force vector on its original direction as had been proposed by Preusche et al. [5] for PO/PC algorithm [3]. The preliminary validity of the proposed algorithm is shown by some experiments.