In general, haptic devices can be categorized as impedance-type or admittance-type devices, based on the device characteristics and the control schemes used. Impedance-type devices are generally back drivable, operated open-loop, can easily render low inertia and low stiffness and generally have less output force. Contrary to this, admittance-type devices are generally non-back drivable, operated closed-loop, used to render high inertia and high stiffness and can generally render high output forces. In this area of research we study the associated challenges in the performance evaluation of admittance type haptic devices and developing suitable models to that can be used as a tool to predict device behavior and the limiting factors.
- C.; Parthiban, C.; Zinn, M.R.; , "A Simplified Approach to Admittance-type Haptic Device Impedance Evaluation,"Haptics Symposium (HAPTICS), 2014 IEEE (Submitted Oct 2013).
- Parthiban, C.; Esser, C.; Zinn, M.R.; , "Evaluation of a parallel actuation approach for MR-compatible haptics," Haptics Symposium (HAPTICS), 2012 IEEE , vol., no., pp.563-570, 4-7 March 2012
- "Admittance-based Haptic Interface Performance Evaluation and Associated Challenges" - Workshop presentation on Haptic Hardware Evaluation Practices at the Haptics Symposium (HAPTICS), 2012 IEEE , Vancouver, Canada, March 2012
- Zinn, M.; Khatib, O.; Roth, B.; Salisbury, J.K., "Large Workspace Haptic Devices - A New Actuation Approach," Haptic interfaces for virtual environment and teleoperator systems, 2008. haptics 2008. symposium on , vol., no., pp.185,192, 13-14 March 2008.
We are grateful for the support of
- Wisconsin Innovation & Economic Development Research Program (IEDR)
- National Science Foundation (prior to coming to UW-Madison)