| Presentation | 2014-03-19 Design of virtual coupling using FIR approximation of fractional derivative Shohei KOBATA, Masayuki KAWAI, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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) |
| Keyword(in English) | Virtual coupling / analysis of passivity / Fractional derivative |
| Paper # | HIP2013-105 |
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| Conference Information | |
| Committee | HIP |
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| Conference Date | 2014/3/10(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Human Information Processing (HIP) |
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| Language | JPN |
| 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 |
| Sub Title (in English) | |
| Keyword(1) | Virtual coupling |
| Keyword(2) | analysis of passivity |
| Keyword(3) | Fractional derivative |
| 1st Author's Name | Shohei KOBATA |
| 1st Author's Affiliation | Faculty of Engineering, Fukui University() |
| 2nd Author's Name | Masayuki KAWAI |
| 2nd Author's Affiliation | Faculty of Engineering, Fukui University |
| Date | 2014-03-19 |
| Paper # | HIP2013-105 |
| Volume (vol) | vol.113 |
| Number (no) | 501 |
| Page | pp.pp.- |
| #Pages | 5 |
| Date of Issue | |