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Technical Brief

A Method for Selecting Velocity Filter Cut-Off Frequency for Maximizing Impedance Width Performance in Haptic Interfaces

[+] Author and Article Information
Vinay Chawda

Department of Mechanical Engineering,
Rice University,
Houston, TX 77005
e-mail: vinay.chawda@rice.edu

Ozkan Celik

Assistant Professor
Mem. ASME
Department of Mechanical Engineering,
Colorado School of Mines,
Golden, CO 80401
e-mail: ocelik@mines.edu

Marcia K. O'Malley

Associate Professor
ASME Fellow
Department of Mechanical Engineering,
Rice University,
Houston, TX 77005
e-mail: omalleym@rice.edu

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received November 6, 2013; final manuscript received August 27, 2014; published online October 3, 2014. Assoc. Editor: Ryozo Nagamune.

J. Dyn. Sys., Meas., Control 137(2), 024503 (Oct 03, 2014) (5 pages) Paper No: DS-13-1434; doi: 10.1115/1.4028526 History: Received November 06, 2013; Revised August 27, 2014

This paper analyzes the effect of velocity filtering cut-off frequency on the Z-width performance of haptic interfaces. Finite difference method (FDM) cascaded with a low pass filter is the most commonly used technique for estimating velocity from position data in haptic interfaces. So far, there is no prescribed method for obtaining the FDM + filter cut-off frequency that will maximize Z-width performance. We present a simulation based method to demonstrate that there exists such an ideal FDM + filter cut-off frequency, and that it can be predicted by numerical simulation based on an identified model of a haptic interface. Experiments are conducted on a single degree-of-freedom (DOF) linear haptic interface to validate the simulation results.

FIGURES IN THIS ARTICLE
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Copyright © 2015 by ASME
Topics: Haptics , Filters , Simulation
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Figures

Grahic Jump Location
Fig. 1

Schematic showing the simulation of the single-DOF haptic interface device with velocity estimated using FDM + filter

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Fig. 2

Z-width plots are obtained analytically for a single-DOF haptic device with velocity estimated using FDM + filter. The sampling frequency is fixed at 10 kHz and the plots are generated for varying cut-off frequencies (fc = ωc/2π).

Grahic Jump Location
Fig. 3

A single–DOF haptic device is used as the experimental setup. (a) Front view and (b) top view.

Grahic Jump Location
Fig. 4

Z-width boundary plots obtained by simulation of the single-DOF haptic interface device with velocity estimated using FDM + filter. The sampling frequency was kept fixed at 10 kHz and the plots were obtained for varying filter cut-off frequencies (fc). (a) Position quantization = 1 μm and (b) position quantization = 2 μm.

Grahic Jump Location
Fig. 5

Experimentally obtained Z-width boundary plots from the single-DOF haptic interface device with velocity estimated using FDM + filter. The sampling frequency was kept fixed at 10 kHz and the plots were obtained for varying filter cut-off frequencies (fc). (a) Position quantization = 1 μm and (b) position quantization = 2 μm.

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