A high-performance velocity estimator for haptic applications

In this paper, a velocity estimator is introduced, which results in low-delay and low-noise velocity estimation based on the sampled-quantized position measurement. The method maintains its efficiency for a broad range of velocities and excitation frequencies. The algorithm is computationally efficient and operates well at virtually any sampling frequency. Better velocity observation, increases the efficiency of virtual dampers employed in impedance control; hence, the system remains stable at higher values of virtual stiffness. This work is supported by simulations and experiments.