M-Width: Stability, noise characterization, and accuracy of rendering virtual mass

International Journal of Robotics Research, Volume 34, Issue 6, 2015, Pages 781-798.

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Keywords:
Passivitystabilitysampled-data systemsphysical human–robot interactionmass controlMore(5+)

Abstract:

In certain robot control and physical human-robot interaction scenarios, it is desirable to carefully control the apparent mass of a robot. Manipulating the apparent mass can be accomplished through virtual mass rendering, where the actuators of the robot produce forces proportional to measured acceleration. Many factors influence mass re...More

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