Path-following control for dissipative passive haptic displays

Abstract

This paper addresses the problem of following an arbitrary path with a dissipative passive haptic display. Such a display has energetically passive actuators; all motive energy must come initially from the human operator and the display may then in general dissipate, redirect, and/or store the energy. Due to the passive restriction conventional haptic control techniques are not applicable. Three control concepts addressing this problem are presented. Simulated and experimental results are provided for these controllers as implemented on a 2 DOF dissipative haptic testbed with additional coupling elements.