Abstract
Haptic rendering commonly implements virtual springs using DC motors with current amplifiers and encoder-based position feedback. In these schemes, quantization, discretization, and delays all impose performance limits. Meanwhile the amplifiers try to cancel the electrical motor dynamics, which are actually beneficial to the haptic display.
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Niemeyer, G., Diolaiti, N., Tanner, N. (2007). Wave Haptics: Encoderless Virtual Stiffnesses. In: Thrun, S., Brooks, R., Durrant-Whyte, H. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 28. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-48113-3_3
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DOI: https://doi.org/10.1007/978-3-540-48113-3_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-48110-2
Online ISBN: 978-3-540-48113-3
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