Journal of Institute of Convergence Technology (융복합기술연구소 논문집)

Institute of Convergence Technology (한국교통대학교 융복합기술연구소)
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Stability Analysis of Virtual Spring-damper Models Considering the Properties of a Haptic Device and First-order Hold Method

햅틱장치 물성치와 일차홀드방식에 따른 가상 스프링-댐퍼 모델의 안정성 영역 분석

  • Kyungno Lee (Department of Automotive Engineering, Korea National University of Transportation)
  • 이경노 (국립한국교통대학교 자동차공학과)
  • Received : 2025.10.21
  • Accepted : 2025.11.20
  • Published : 2025.11.30
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Abstract

This paper presents the effects of properties of the haptic device and sample-and-hold methods on stability regions of a virtual object with a virtual spring and damper. The haptic system includes a haptic device with a mass and a damper, a virtual object modeled as a virtual spring and damper, and sample-and-holds. The relation among the maximum available virtual stiffness and damping, the mass and damping of the haptic device, and the sample-and-hold methods is analyzed using simulations. The simulation results show that, regardless of the sample-and-hold methods used, the stability region of the virtual model increases in proportion to the increase in the mass of the haptic device. However, even if the damping of the haptic device increases, it has little effect on the stability region of the virtual model with spring and damper. In addition, regardless of changes in the mass and damping of the haptic device, when using FOH, the boundary value of the virtual damper becomes 0.65 times as large as when using ZOH, while the maximum available stiffness becomes 1.1 times larger.

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Acknowledgement

이 논문은 2025년도 국립한국교통대학교 지원을 받아 수행하였음.

References

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