METHOD FOR REDUCING LIMIT CYCLE OSCILLATIONS IN A HAPTIC DEVICE

摘要

Systems and methods for reducing limit cycle oscillations of a haptic device. A net force (F+dF) applied to the device is a combination of a primary force (F) computed in a main haptic loop (26) and a secondary force (dF) computed in a damping loop (118) that cancels or minimizes the oscillations. In one algorithm, the secondary force is determined from the momentum error associated with crossing of a wall position by the manipulandum (34) and is applied immediately after the crossing detected. In another algorithm, a periodically varying secondary force (dF) with a phase shift relative to the phase of the oscillating manipulandum (34) is computed.