Paper Abstract and Keywords |
Presentation |
2014-03-19 17:00
Design of virtual coupling using FIR approximation of fractional derivative Shohei Kobata, Masayuki Kawai (Fukui Univ.) HIP2013-105 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
This research studies haptic interface with a virtual coupling including fractional derivative. Virtual coupling in virtual reality is commonly composed of virtual stiffness and damping between virtual objects and the real world. In a system with long sampling rate, however, the virtual stiffness has to be set low and the system only presents virtual objects with soft surface. For this issue, this research proposes a virtual coupling with virtual stiffness and fractional derivative instead of virtual damping using finite impulse response; FIR approximation. This paper shows the theoretical effect of the virtual coupling with fractional derivative, and the influence of parameters analyzing the passivity of the system. Finally, we perform experiments to show the effect. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Virtual coupling / analysis of passivity / Fractional derivative / / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 113, no. 501, HIP2013-105, pp. 137-141, March 2014. |
Paper # |
HIP2013-105 |
Date of Issue |
2014-03-10 (HIP) |
ISSN |
Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
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HIP2013-105 |
Conference Information |
Committee |
HIP |
Conference Date |
2014-03-17 - 2014-03-19 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Tokyo Univ. |
Topics (in Japanese) |
(See Japanese page) |
Topics (in English) |
Haptics,Hand, etc. |
Paper Information |
Registration To |
HIP |
Conference Code |
2014-03-HIP |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Design of virtual coupling using FIR approximation of fractional derivative |
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Virtual coupling |
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analysis of passivity |
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Fractional derivative |
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1st Author's Name |
Shohei Kobata |
1st Author's Affiliation |
Fukui University (Fukui Univ.) |
2nd Author's Name |
Masayuki Kawai |
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Fukui University (Fukui Univ.) |
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Speaker |
Author-1 |
Date Time |
2014-03-19 17:00:00 |
Presentation Time |
25 minutes |
Registration for |
HIP |
Paper # |
HIP2013-105 |
Volume (vol) |
vol.113 |
Number (no) |
no.501 |
Page |
pp.137-141 |
#Pages |
5 |
Date of Issue |
2014-03-10 (HIP) |
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