Ryu, Dongseok Song, Jae-Bok Choi, Junho Kang, Sungchul Kim, Munsang 2024-01-19T13:39:12Z 2024-01-19T13:39:12Z 2022-03-07 2007 1050-4729 https://pubs.kist.re.kr/handle/201004/116447 Stable haptic interaction has been studied extensively by an energy-based approach. However, the energy in the haptic system is not directly measurable, but estimated from some measured quantities such as force and velocity; therefore, the estimated energy is occasionally inaccurate. To resolve this problem, a new observer, working in the frequency domain, is proposed in this research. The observer quantifies the degree of instability of a haptic system, and a proposed controller generates variable damping in proportion to this quantitative instability. Especially, for a double layered virtual wall, the proposed methods were much faster in detecting haptic instability than other schemes, and successfully reduced unstable behavior. English IEEE Frequency domain stability observer and active damping control for stable haptic interaction Conference 10.1109/ROBOT.2007.363772 1 IEEE International Conference on Robotics and Automation, pp.105 - 110 IEEE International Conference on Robotics and Automation 105 110 US Rome, ITALY 2007-04-10 PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 000250915300017 2-s2.0-36348986158 Proceedings Paper