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Application of a novel structure with observer for force-feedback haptic system under variable time delay

Abstract : This paper addresses the implementation of a novel structure with observer for force-feedback haptic system under variable time delay. Theoretical approach for stabilizing haptic interface in interaction with a virtual environment is proposed. The obtained experimental results confirm the efficiency of the proposed force-feedback architecture instead of the traditional backward finite-difference method in improving the stability of haptic system.
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https://hal-uphf.archives-ouvertes.fr/hal-03418687
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Submitted on : Monday, November 8, 2021 - 9:14:45 AM
Last modification on : Wednesday, November 10, 2021 - 9:30:02 AM

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Quoc Viet Dang, Laurent Vermeiren, Antoine Dequidt, Michel Dambrine. Application of a novel structure with observer for force-feedback haptic system under variable time delay. 2014 IEEE Conference on Control Applications (CCA), Oct 2014, Juan Les Antibes, France. pp.2060-2065, ⟨10.1109/CCA.2014.6981606⟩. ⟨hal-03418687⟩

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