Paper Abstract and Keywords |
Presentation |
2015-03-03 11:20
Design of a VC using a linear combination of FIR fractional derivatives Masayuki Kawai, Shohei Kobata, Yuki Sugimoto (Fukui Univ.) HIP2014-93 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
This research studies haptic interface with a virtual coupling using a linear combination of several FIR fractional derivatives. 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, we showed that we can set high stiffness to use a virtual coupling consisting of virtual stiffness and a fractional derivative. In this research, we proposed a virtual coupling using a linear combination with several FIR type fractional derivatives in order to improve the virtual stiffness. We design the parameters based on the results of a virtual coupling with a fractional derivative. 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. 114, no. 483, HIP2014-93, pp. 73-76, March 2015. |
Paper # |
HIP2014-93 |
Date of Issue |
2015-02-23 (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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HIP2014-93 |
Conference Information |
Committee |
HIP |
Conference Date |
2015-03-02 - 2015-03-03 |
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(See Japanese page) |
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Paper Information |
Registration To |
HIP |
Conference Code |
2015-03-HIP |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Design of a VC using a linear combination of FIR fractional derivatives |
Sub Title (in English) |
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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 |
Masayuki Kawai |
1st Author's Affiliation |
University of Fukui (Fukui Univ.) |
2nd Author's Name |
Shohei Kobata |
2nd Author's Affiliation |
University of Fukui (Fukui Univ.) |
3rd Author's Name |
Yuki Sugimoto |
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University of Fukui (Fukui Univ.) |
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Speaker |
Author-1 |
Date Time |
2015-03-03 11:20:00 |
Presentation Time |
25 minutes |
Registration for |
HIP |
Paper # |
HIP2014-93 |
Volume (vol) |
vol.114 |
Number (no) |
no.483 |
Page |
pp.73-76 |
#Pages |
4 |
Date of Issue |
2015-02-23 (HIP) |
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