A Model-Based Controller for Interactive Delayed Haptic Feedback Virtual Environments

This paper addresses the stability of time-delayed force-reflecting displays used in virtual reality interactive systems. A novel predictive-like approach is proposed. The developed solution is stable and robust. Neither time delay estimation nor time delay behavior's knowledge are required. Th...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2003-06, Vol.37 (2), p.193-207
Main Authors: Arioui, H, Kheddar, A, Mammar, S
Format: Article
Language:English
Subjects:
Construction
Control systems
Control theory
Feedback
Haptics
Interactive
Mathematical models
Time delay
Virtual reality
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Summary:This paper addresses the stability of time-delayed force-reflecting displays used in virtual reality interactive systems. A novel predictive-like approach is proposed. The developed solution is stable and robust. Neither time delay estimation nor time delay behavior's knowledge are required. The controller applies to constant or time-varying delays without any adaptation. In this research, efforts are devoted towards making results easy to implement in commercial haptic libraries and interface build-in controllers. Moreover, although this study focuses on virtual environments haptics, it can easily spread to force feedback teleoperators.[PUBLICATION ABSTRACT]
ISSN:0921-0296
1573-0409
DOI:10.1023/A:1024106504729