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Oral Session 2A: Control of Haptic Devices
Technical Papers
Colonial Ballroom, Chairs: Nick Colonnese and Jeremy Brown
Talks will begin every 15 min.
The Impact of High-Frequency Haptic Device Behavior on Perception
Emma Treadway and R. Brent Gillespie
(University of Michigan, USA)
Publisher's Version
Picture (Local)
Abstract: Haptic rendering is typically done through either impedance or admittance devices, which exist at opposite ends of a spectrum from light direct-drive to non-backdrivable highly geared. The device hardware necessarily influences what the user will feel, particularly at high frequencies. While human motion is generally limited to 10Hz, virtual environments with contact transitions have the potential to excite a wider frequency spectrum. We employ the effective impedance decomposition to discuss the effects of hardware and controller selection outside of the rendering bandwidth. We also introduce an analysis of the admittance and impedance controllers with respect to sensitivity to load cell noise. Using a reconfigurable admittance/impedance device and a perceptual experiment, we explore these effects. We find that higher effective mass outside the rendering bandwidth leads to more confusion in discriminating springs in an admittance device than an impedance device.

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Time stamp: 2019-05-21T08:04:11+02:00