TY - GEN
T1 - Performance evaluation of haptic device via quasi-quantitative Z-width
AU - An, Jinung
AU - Cho, Hwang
AU - Lee, Key Seo
AU - Kwon, Dong Soo
PY - 2007
Y1 - 2007
N2 - This paper presents the quasi-quantitative Z-width measurement method. The quasi-quantitative Z-width criterion is defined that the haptic interaction is unstable, if the frequency and amplitude of chattering go over certain level, which is a threshold for the instability. Through the literatural study, the threshold for instability was fixed 0.4 rad/sec amplitude with 30 Hz frequency, which is human's discomfort level. The measurement of the instability is achieved by measuring the velocity and the number of zero-crossing of limit cycles during haptic display. Comparing the experimental results with theoretical results, the proposed quasi-quantitative Z-width can be applied to the haptic interfaces as a more reliable Z-width measurement method.
AB - This paper presents the quasi-quantitative Z-width measurement method. The quasi-quantitative Z-width criterion is defined that the haptic interaction is unstable, if the frequency and amplitude of chattering go over certain level, which is a threshold for the instability. Through the literatural study, the threshold for instability was fixed 0.4 rad/sec amplitude with 30 Hz frequency, which is human's discomfort level. The measurement of the instability is achieved by measuring the velocity and the number of zero-crossing of limit cycles during haptic display. Comparing the experimental results with theoretical results, the proposed quasi-quantitative Z-width can be applied to the haptic interfaces as a more reliable Z-width measurement method.
KW - Chattering
KW - Number of zero-crossing
KW - Quasi-quantitative Z-width
KW - Velocity of limit cycles
KW - Z-width
UR - http://www.scopus.com/inward/record.url?scp=48349111793&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2007.4406642
DO - 10.1109/ICCAS.2007.4406642
M3 - Conference contribution
AN - SCOPUS:48349111793
SN - 8995003871
SN - 9788995003879
T3 - ICCAS 2007 - International Conference on Control, Automation and Systems
SP - 1827
EP - 1830
BT - ICCAS 2007 - International Conference on Control, Automation and Systems
T2 - International Conference on Control, Automation and Systems, ICCAS 2007
Y2 - 17 October 2007 through 20 October 2007
ER -