Abstract:Haptic feedback has two important sources of dynamics: the machine being controlled and the haptic device itself. This paper concentrates on the means of identifying the dynamics of a Phantom Omni haptic feedback device. Two models are compared: a dynamic model with parameters using results from sinusoidal steady state analysis and a data driven model that uses pseudo-random binary sequences (PRBS) for identification. The overall form of the frequency and phase response is welldefined for the dynamics model bu… Show more
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