Haptic Systems 530-655. Mohsen Mahvash Lecture 13 26/1/06. Methods to stabilize haptic interactions with virtual environments. An overview of the last lecture Virtual coupling Passivity controller Multi-rate multi-model implementation References. An overview of the last lecture.
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Is my program able to calculate energy leak?
absorbed energy by a virtual wall
Virtual Wall+ Passivity Controller
Very high rate implementation
No energy leak at the moment of model switch
low rate switch
high rate rendering
Stability and transparency of force-feedback telemanipulation systems