林理平, 吴平东, 黄杰, 李建. 一种提高基于线绳的力反馈设备显示阻抗范围的方法[J]. 机器人, 2010, 32(5): 630-634,641..
LIN Liping, WU Pingdong, HUANG Jie, LI Jian. A Method for Increasing Impedance Range of String-based Force Feedback Device. ROBOT, 2010, 32(5): 630-634,641..
Abstract：A method for increasing impedance range of string-based force feedback device by adjusting the pretighting force dynamically is proposed.The basic structure of string-based force feedback device is presented,and an energy-dissipation-based approach is used to analyze the influence of string tension on the stability of haptic display when rendering high-stiffness virtual objects.And the relationship between string pretightening force and force interaction transparency is analyzed.In order to meet the requirements of stability and transparency simultaneously,string pretighting force is adjusted dynamically according to the contact state between the end-effector and virtual objects.Experimental results show that this method can tradeoff stability and transparency,thereby enlarge the achievable impedance range.
 Colgate J E,Brown J M.Factors affecting the Z-width of a haptic display[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,1994:3205-3210.
 Colgate J E,Schenkel G G.Passivity of a class of sampled-data systems:Application to haptic interfaces[J]. Journal of Robotic Systems,1997,14(1):37-47.
 Gillespie R B,Cutkosky M R.Stable user-specific haptic rendering of the virtual wall[C]//Proceedings of the ASME Dynamic Systems and Control Division.New York,NY,USA:ASME,1996:397-406.
 Miller B E,Colgate J E,Freeman R A.On the role of dissipation in haptic systems[J]. IEEE Transactions on Robotics,2004,20(4):768-771.
 Diolaiti N,Niemeyer G,Barbagli F,et al.Stability of haptic rendering:Discretization,quantization,time delay,and Coulomb effects[J]. IEEE Transactions on Robotics,2006,22(2):256-268.
 Hannaford B,Ryu J H.Time domain passivity control of haptic interfaces[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2001:1863-1869.
 Mehling J S,Colgate J E,Peshkin M A.Increasing the impedance range of a haptic display by adding electrical damping[C]//1st Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.Los Alamitos,CA,USA:IEEE Computer Society,2005:257-262.
 Akahane K,Koike Y,Hasegawa S,et al.A proposal of a high definition haptic rendering for stability and fidelity[C]//16th International Conference on Artificial Reality and Telexistence.Los Alamitos,USA:IEEE Computer Society,2006:162-167.
 Fesharakifard R,Leroy L,Fuchs P.Development of a stringbased haptic interface by using a hybrid control approach[C]//2nd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.Los Alamitos,CA,USA:IEEE Computer Society,2007:488-493.
 Sato M.Development of string-based force display:SPIDAR[C]//8th International Conference on Virtual Systems and Multi Media.Heverlee,Belgium:International Society on VSMM,2002:1034-1039.
 Lee S Y,Mote C D.Traveling wave dynamics in a translating string coupled to stationary constraints:Energy transfer and mode localization[J]. Journal of Sound and Vibration,1998,212(1):1-22.
 Salcudean S E,Vlaar T D.On the emulation of stiff walls and static friction with a magnetically levitated input/output device[J]. Journal of Dynamic Systems,Measurement and Control,Transactions of the ASME,1997,119(1):127-132.