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A model-based controller for interactive delayed haptic feedback virtual environments
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DOI：10.1023/A:1024106504729.png)
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摘要
En 中文
This paper addresses the stability of time-delayed force-reflecting displays used in virtual reality interactive systems. A novel predictive-like approach is proposed. The developed solution is stable and robust. Neither time delay estimation nor time delay behavior's knowledge are required. The controller applies to constant or time-varying delays without any adaptation. In this research, efforts are devoted towards making results easy to implement in commercial haptic libraries and interface build-in controllers. Moreover, although this study focuses on virtual environments haptics, it can easily spread to force feedback teleoperators.
Keyword:
virtual environment haptics
time-delayed force feedback
stability
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