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Paper Abstract and Keywords
Presentation 2014-03-19 17:00
Design of virtual coupling using FIR approximation of fractional derivative
Shohei Kobata, Masayuki Kawai (Fukui Univ.) HIP2013-105
Abstract (in Japanese) (See Japanese page) 
(in English) This research studies haptic interface with a virtual coupling including fractional derivative. Virtual coupling in virtual reality is commonly composed of virtual stiffness and damping between virtual objects and the real world. In a system with long sampling rate, however, the virtual stiffness has to be set low and the system only presents virtual objects with soft surface. For this issue, this research proposes a virtual coupling with virtual stiffness and fractional derivative instead of virtual damping using finite impulse response; FIR approximation. This paper shows the theoretical effect of the virtual coupling with fractional derivative, and the influence of parameters analyzing the passivity of the system. Finally, we perform experiments to show the effect.
Keyword (in Japanese) (See Japanese page) 
(in English) Virtual coupling / analysis of passivity / Fractional derivative / / / / /  
Reference Info. IEICE Tech. Rep., vol. 113, no. 501, HIP2013-105, pp. 137-141, March 2014.
Paper # HIP2013-105 
Date of Issue 2014-03-10 (HIP) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF HIP2013-105

Conference Information
Committee HIP  
Conference Date 2014-03-17 - 2014-03-19 
Place (in Japanese) (See Japanese page) 
Place (in English) Tokyo Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Haptics,Hand, etc. 
Paper Information
Registration To HIP 
Conference Code 2014-03-HIP 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Design of virtual coupling using FIR approximation of fractional derivative 
Sub Title (in English)  
Keyword(1) Virtual coupling  
Keyword(2) analysis of passivity  
Keyword(3) Fractional derivative  
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1st Author's Name Shohei Kobata  
1st Author's Affiliation Fukui University (Fukui Univ.)
2nd Author's Name Masayuki Kawai  
2nd Author's Affiliation Fukui University (Fukui Univ.)
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Speaker Author-1 
Date Time 2014-03-19 17:00:00 
Presentation Time 25 minutes 
Registration for HIP 
Paper # HIP2013-105 
Volume (vol) vol.113 
Number (no) no.501 
Page pp.137-141 
#Pages 5 
Date of Issue 2014-03-10 (HIP) 

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