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Factors affecting the Z-Width of a haptic display
Abstract
This paper addresses the performance of force-reflecting interfaces ("haptic displays"). The authors suggest that an important measure of performance is the dynamic range of achievable impedances-"Z-Width"-and that an impedance is achievable if it satisfies a robustness property such as passivity. Several factors affecting Z-Width-sample-and-hold, inherent interface dynamics, displacement sensor quantization, and velocity filtering-are discussed. A set of experiments designed to evaluate these factors is described and experimental results are presented. A striking result is that inherent interface damping exerts an overwhelming influence on Z-Width.>
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Cited by
Peshkin, M. A., Colgate, J. E., Wannasuphoprasit, W., Moore, C. A., Gillespie, R. B., & Akella, P. (2001) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.954751 · Cited by 365
Self-citationToward Haptic Communications Over the 5G Tactile Internet
Antonakoglou, K., Xu, X., Steinbach, E., Mahmoodi, T., & Dohler, M. (2018) · IEEE Communications Surveys & Tutorials · doi:10.1109/comst.2018.2851452 · Cited by 250
The design and testing of a force feedback dental simulator
Thomas, G., Johnson, L., Dow, S., & Stanford, C. (2001) · Computer Methods and Programs in Biomedicine · doi:10.1016/s0169-2607(00)00089-4 · Cited by 73
Pelliccia, L., Lorenz, M., Heyde, C.-E., Kaluschke, M., Klimant, P., Knopp, S., Schleifenbaum, S., Rotsch, C., Weller, R., Werner, M., et al. (2020) · Scientific Reports · doi:10.1038/s41598-020-71499-5 · Cited by 20
Metadata
- Authors
- Colgate, J. E., & Brown, J. M.
- Venue
- Proceedings of the 1994 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Published
- 2002-12-17
- Pages
- 3205-3210
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2107207454
- Cited by
- 635
- References
- 0
- FWCI
- 58.04
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Colgate, J. E., & Brown, J. M. (2002). Factors affecting the Z-Width of a haptic display. Proceedings of the 1994 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1994.351077
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