Passive Realization of Nonlinear Virtual Environments

Part of the Springer Series on Touch and Haptic Systems book series (SSTHS)


Passivity theory applied to haptics is for the most part restricted to the case of linear, one-dimensional virtual environments. Here, the application of passivity theory is extended to account for nonlinear, multidimensional, non-conservative virtual environments with quantization and delay. To analyze these more general cases, the notion ofpassive realization, stricter than passivity, is introduced. This notion is exemplified with multidimensional linear virtual environments and with experiments involving nonlinear environments.


Force Field Virtual Environment Haptic Device Haptic Interaction Passivity Analysis 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



This work was funded by a Collaborative Research and Development Grant “High Fidelity Surgical Simulation” from the Natural Sciences and Engineering Council of Canada (nserc), and by Immersion Corp. Additional funding is a from a Discovery Grant fromnserc for the second author. The authors would like to thanks the reviewers for several insightful comments.


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Copyright information

© Springer-Verlag London Limited 2011

Authors and Affiliations

  1. 1.MontrealCanada

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