Cho, Changhyun Song, Jae-Bok Kim, Munsang 2024-01-20T22:34:09Z 2024-01-20T22:34:09Z 2021-09-03 2008-10 1083-4435 https://pubs.kist.re.kr/handle/201004/133114 This paper proposes a control method that overcomes the instability of a haptic interface arising from both the slow update rates of the virtual environment (VE) and the time delay in a communication line. The instability arising from the time delay in a communication line can be overcome using the wave variables since the time delay on the wave variables becomes passive. The so-called multirate control scheme is applied to cope with the problems presented by the slow update rates of the VE. Since digital sample and hold (rate transitions) can be represented as a series of time delay, the passive nature of time delay on the wave variable is is applied. By computing the norm of the scattering matrix, it was verified that rate transitions on the wave variables become passive, so a stable haptic interface was derived with the multirate wave transform. Various experiments have shown that a stable force display can be achieved with the multirate wave transform. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC SAMPLED-DATA SYSTEMS DIGITAL-CONTROL PASSIVITY Stable Haptic Display of Slowly Updated Virtual Environment With Multirate Wave Transform Article 10.1109/TMECH.2008.2002540 1 IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.13, no.5, pp.566 - 575 IEEE-ASME TRANSACTIONS ON MECHATRONICS 13 5 566 575 scie scopus 000260464100009 2-s2.0-54349118490 Automation & Control Systems Engineering, Manufacturing Engineering, Electrical & Electronic Engineering, Mechanical Automation & Control Systems Engineering Article SAMPLED-DATA SYSTEMS DIGITAL-CONTROL PASSIVITY Haptics multirate wave transform rate transitions slow update rate wave variables