지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2013.1
- 수록면
- 23 - 29 (7page)
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초록· 키워드
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When a human operator interacts with a virtual wall that is modeled as a virtual spring model, the lager the stiffness of the virtual spring is, the more realistic the operator feels that the virtual wall is. In the previous studies, it is shown that the maximum available stiffness of a virtual spring to guarantee the stability can be increased when the first-order-hold method is applied, however the effects of a human impedance on the stability are not considered. This paper presents the effects of a human impedance on stability of haptic system with a virtual spring and a first-order-hold (FOH) method. The human impedance model is modeled as a linear second-order system model. The relations between the maximum available stiffness of a virtual spring and the human impedance such as a mass, a damping and a stiffness are analyzed through the MATLAB simulation. It is shown that the maximum available stiffness is proportional to the square root of the human mass or damping respectively.
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