Optimizing transparency of haptic device through velocity estimation - Archive ouverte HAL Access content directly
Conference Papers Year : 2015

Optimizing transparency of haptic device through velocity estimation


In this paper, the conception and optimization of a new dual-stage haptic device is described. A particular attention is given to the choice of encoder. Compact, consumer grade, but low resolution encoders are particularly used. An issue arising from this particularity is the deterioration of the velocity measurement when Finite Difference method is used. Moreover, when encoders resolution decreases, velocity estimation becomes noisy. From haptic point of view, this noise destroys the realism of the rendered force. To deal with this problem, numerous methods have been proposed to offer a noiseless estimation. Here, advanced methods such as Low-Pass Filter, First Order Adaptive Windowing, Kalman Filter are proposed. Performances of theses methods are verified and experimentally compared to a conventional finite difference method. Here, we show that Kalman filter and First Order Adaptive Windowing offers a good trade-off between estimation and noise rejection.
Fichier principal
Vignette du fichier
AWD2015.pdf (258.24 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-03190973 , version 1 (28-04-2021)


Attribution - CC BY 4.0



Antoine Weill-Duflos, Abdenbi Mohand Ousaid, Sinan Haliyo, Stephane Regnier, Vincent Hayward. Optimizing transparency of haptic device through velocity estimation. 2015 IEEE International Conference on Advanced Intelligent Mechatronics, 2015, Busan, South Korea. pp.529-534, ⟨10.1109/AIM.2015.7222588⟩. ⟨hal-03190973⟩
50 View
85 Download



Gmail Facebook Twitter LinkedIn More