The DOI matches its Crossref record.
Stable haptic interaction with virtual environments
Abstract
This paper addresses fundamental stability and performance issues associated with haptic interaction. It generalizes and extends the concept of a virtual coupling network, an artificial link between the haptic display and a virtual world, to include both the impedance and admittance models of haptic interaction. A benchmark example exposes an important duality between these two cases. Linear circuit theory is used to develop necessary and sufficient conditions for the stability of a haptic simulation, assuming the human operator and virtual environment are passive. These equations lead to an explicit design procedure for virtual coupling networks which give maximum performance while guaranteeing stability. By decoupling the haptic display control problem from the design of virtual environments, the use of a virtual coupling network frees the developer of haptic-enabled virtual reality models from issues of mechanical stability.
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Cited by
Atashzar, S. F., Polushin, I. G., & Patel, R. V. (2017) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2623336 · Cited by 57
Metadata
- Authors
- Adams, R. J., & Hannaford, B.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1999-06
- Volume
- 15
- Issue
- 3
- Pages
- 465-474
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2124034026
- Cited by
- 646
- References
- 0
- FWCI
- 47.22
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Stable haptic interaction with virtual environments. https://app.cochat.ai/papers/10.1109/70.768179
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- Adams, R. J., & Hannaford, B. (1999). Stable haptic interaction with virtual environments. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.768179
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
