| This research first provides background on linear haptic two-port networks and use of Llewelyn's Stability Criterion to prove their stability when interfaced with passive environments, with specific comments regarding application of these linear techniques to nonlinear systems. Furthermore, man-machine interaction dynamics are addressed, with specific attention given to the "human is a passive element" assumption and how to include estimated human impedance/admittance dynamic limits into the two-port design. Two-port numerical tuning algorithms and analysis techniques are presented and lay the groundwork for testing of said haptic networks on HuRBiRT (Human Robotic Bilateral Research Tool), a large scale nonlinear hybrid active/passive haptic device.; First, two-port networks are numerically tuned using a linearized dynamic model of HuRBIRT. Resulting admittance and impedance limits of the respective networks are compared to add insight on the advantages/disadvantages of the two different implementations of haptic causality for the same device, with specific consideration given to the advantage of adding force feedback to the impedance network, selection of virtual coupling form, effects of varying system parameters (such as physical or EMF damping, filters, etc.), and effects of adding human dynamic limits into the network formulation. Impedance and admittance two-port network implementations are experimentally validated on HuRBiRT, adding further practical insight into network formulation. Resulting experimental networks are directly compared to those numerically formulated through use of HuRBiRT's linearized dynamic models. (Abstract shortened by UMI.)... |
