We have explored through theoretical analysis, simulation and experimental study the role of added viscous damping on stability and passivity of haptic displays that have parallel kinematic structure and actuaction with added serial elasticity. We have determined three sufficient conditions that in relation with other relevant parameters of haptic interface govern selection of neccesary viscous damping.
COBISS.SI-ID: 1081449
This paper evaluates the effect of different modes of robot-assistances in a complex virtual environment on the subjects’ ability to complete the task as well as on various haptic parameters arising from the human-robot interaction. The study highlights the importance of adaptive haptic interaction that should take into account current abilities of each individual subject.
COBISS.SI-ID: 7998548