Using Physical Models is Necessary to Guarantee Stable Analog Haptic Feedback Control for New Media

Publication Type:

Conference Paper

Source:

SMC Conference 2011 (2011)

Abstract:

It might be easy to imagine that physical models only represent a small portion of the universe of appropriate force feedback controllers for haptic new media; however, we argue the contrary in this work, in which we apply creative physical model design to re-examine the science of feedback stability. 

For example, in an idealized analog haptic feedback control system, if the feedback corresponds to a passive physical model, then the haptic control system is guaranteed to be stable, as we prove.  Furthermore, it is in fact necessary that the feedback corresponds to a passive physical model.  Otherwise, there exists a passive "user/haptic device transfer function" that can drive the feedback control system unstable.  To simplify the mathematics, we make several assumptions, which we discuss throughout the paper and reexamine in an appendix.

The work implies that besides all of the known advantages of physical models, we can argue that we should employ only them for designing haptic force feedback.  For example, even though granular synthesis has traditionally been implemented using signal modeling methods, we argue that physical modeling should nonetheless be employed when controlling granular synthesis with a haptic force-feedback device.

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