Abstract
Physically dissipative damping can increase the range of passive stiffness that can be rendered by a haptic device. Unlike simulated damping it does not introduce noise into the haptic control system. A DC motor can generate such damping if it’s terminals are shorted. We employ a configuration of the H-bridge which can cause this damping to impart stability to our haptic device. This results in an increase in passive wall stiffness of about 33.3% at a sampling rate of 100Hz and 16.6% at 1kHz over the performance of an undamped DC motor. We have also attempted to implement the system on the hybrid haptic control system [1], it was seen that a perceivable change in the performance of this system was not observed by the use of DC motor damping.
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Srikanth, M.B., Vasudevan, H., Muniyandi, M. (2008). DC Motor Damping: A Strategy to Increase Passive Stiffness of Haptic Devices. In: Ferre, M. (eds) Haptics: Perception, Devices and Scenarios. EuroHaptics 2008. Lecture Notes in Computer Science, vol 5024. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69057-3_6
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DOI: https://doi.org/10.1007/978-3-540-69057-3_6
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