Fuzzy virtual coupling design for high performance haptic display

Abstract

Conventional virtual coupling is designed mainly for stabilizing the virtual environment (VE) and it thus may have poor performances. This paper proposes a novel adaptive virtual coupling design approach for haptic display in passive or time-delayed non-passive virtual environment. According to the performance errors, the virtual coupling can be adaptively tuned through some fuzzy logic based law. The designed haptic controller can improve the "operating feel" in virtual environments, while the system's stability condition can still be satisfied. Experimental results demonstrate the effectiveness of this novel virtual coupling design approach.