Energy-bounding algorithm for stable haptic interaction and bilateral teleoperation

Author

Seo, Changhoon ; Kim, Jong-Phil ; Kim, Jaeha ; Ryu, Jeha

Author_Institution

Haptic Technol. Res. Center, Gwangju Inst. of Sci. & Technol., Gwangju

fYear

2009

fDate

18-20 March 2009

Firstpage

617

Lastpage

618

Abstract

This demonstration shows the effectiveness of the energy-bounding algorithm (EBA) for stable haptic interaction and bilateral teleoperation. The EBA proposed for stable haptic interaction based on the passivity theory and extended to stabilize the bilateral teleoperation system that has the time delay in communication channel. In this demo, a virtual wall test for haptic interaction and bilateral teleoperation through internet connection between USA to Korea will be demonstrated.

Keywords

Internet; haptic interfaces; Internet connection; bilateral teleoperation system; communication channel; energy bounding algorithm; passivity theory; stable haptic interaction; time delay; virtual wall test; Communication channels; Communication system control; Delay effects; Haptic interfaces; Humans; Imaging phantoms; Internet; Stability; Testing; Virtual environment; bilateral teleoperation; haptic interaction; stability;

fLanguage

English

Publisher

ieee

Conference_Titel

EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint

Conference_Location

Salt Lake City, UT

Print_ISBN

978-1-4244-3858-7

Type

conf

DOI

10.1109/WHC.2009.4810913

Filename

4810913