Abstract
Environmental haptic sensations are reproduced by means of machine admittance control. Conventional reproduced environments are expressed by a stiffness and viscosity model and Finite Element Method(FEM) . In this research, multi-inertia environmental haptic sensations that are composed of multiple mass, stiffness, and viscosity values are reproduced based on machine admittance control by using the finite difference time domain (FDTD) method. In this study, we observe the frequency characteristics from the external force to be stored for the position response, calculate the complex equation from the motion equation for each frequency, and obtain the characteristic matrix of the environment by means of the least squares method. The obtained parameter can be used, as it is as a parameter of the FDTD method. This method is suitable for the method of rendering the environmental haptic sensations using the FDTD method and machine admittance control.
Published Version
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