Uncoupled Stability Dynamic Range for Hunt-Crossley Modeled Virtual Environments
Seanna Oliver, Leonam Pecly, Keyvan Hashtrudi-Zaad
Abstract
Viscoelastic medium is a common environment that is simulated as a virtual environment in haptic simulation systems. Kelvin-Voigt (KV) and Hunt-Crossley (HC) are models commonly used to simulate viscoelastic environments in haptic simulation systems. Due to the sample-and-hold process, the range of dynamics - viscosity and elasticity, that can be rendered in a stable way is limited. While uncoupled stability, as a stringent stability condition, has been analyzed for KV virtual environments, it has not been evaluated for HC environments. In this letter, we experimentally evaluate the range of dynamic parameters for each model that result in uncoupled stability. To compare the results, we map the HC parameters to the KV parameter space. To confirm the mapping, we conduct a user study to compare the viscosity and elasticity effects perceived by the users.
BibTeX
@inproceedings{ral2023_uncoupledstabili,
title = {Uncoupled Stability Dynamic Range for Hunt-Crossley Modeled Virtual Environments},
author = {Seanna Oliver and Leonam Pecly and Keyvan Hashtrudi-Zaad},
booktitle = {RA-L 2023},
year = {2023}
}