Lim, Yo-An Kim, Jong-Phil Ryu, Jeha 2024-01-20T18:02:03Z 2024-01-20T18:02:03Z 2022-01-25 2011 1383-5416 https://pubs.kist.re.kr/handle/201004/130807 This paper presents a frequency-dependent damping element, called an analog input shaper (AIS), to improve the stability of haptic interaction with virtual or real environments. High frequency inputs to a haptic interface, which usually occur in the collision with very stiff objects, can bring limit cycle oscillations and instabilities. In order to reduce these high frequency inputs and thus to improve the stability of haptic interaction, the AIS is added to the haptic system. Moreover, the AIS is applied to a passivity-based haptic stability control algorithm, called an energy-bounding algorithm (EBA), to increase the displayed impedance range by the EBA. Through scaled teleoperation experiments using an atomic force microscope (AFM), we show that the AIS can enhance stability during haptic interaction and consequently increase impedance range that a haptic interface can stably display. Also, we show that the AIS can alleviate conservativeness of the passivity-based haptic control algorithms. English IOS PRESS PASSIVITY QUANTIZATION INTERFACES Stability enhancement of haptic interaction by frequency-dependent damping and its application to scaled teleoperation Article 10.3233/JAE-2011-1340 1 INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, v.36, no.1-2, pp.11 - 27 INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS 36 1-2 11 27 scie scopus 000291879100003 2-s2.0-79959748556 Engineering, Electrical & Electronic Mechanics Physics, Applied Engineering Mechanics Physics Article; Proceedings Paper PASSIVITY QUANTIZATION INTERFACES