IEEE Trans Haptics. 2023 Apr-Jun;16(2):261-275. doi: 10.1109/TOH.2023.3268861. Epub 2023 Jun 20.
The stability of haptic simulation systems has been studied for a safer interaction with virtual environments. In this work, the passivity, uncoupled stability, and fidelity of such systems are analyzed when a viscoelastic virtual environment is implemented using a general discretization method that can also represent methods such as backward difference, Tustin, and zero-order-hold. Dimensionless parametrization and rational delay are considered for device independent analysis. Aiming at expanding the virtual environment dynamic range, equations to find optimum damping values for maximize stiffness are derived and it is shown that by tuning the parameters for a customized discretization method, the virtual environment dynamic range will supersede the ranges offered by methods such as backward difference, Tustin and zero-order-hold. It is also shown that minimum time delay is required for stable Tustin implementation and that specific delay ranges must be avoided. The proposed discretization method is numerically and experimentally evaluated.
已经研究了触觉模拟系统的稳定性，以实现与虚拟环境的更安全交互。在这项工作中，当使用可以表示诸如后向差分、Tustin 和零阶保持等方法的通用离散化方法实现粘弹性虚拟环境时，分析了这些系统的被动性、解耦稳定性和保真度。为了进行设备独立分析，考虑了无量纲参数化和有理延迟。为了扩展虚拟环境的动态范围，推导出了用于找到最大刚度的最优阻尼值的方程，并表明通过调整定制离散化方法的参数，可以使虚拟环境的动态范围超过后向差分、Tustin 和零阶保持等方法提供的范围。还表明，Tustin 实现需要最小的时间延迟，并且必须避免特定的延迟范围。提出的离散化方法进行了数值和实验评估。
