Force bounding approach for stable haptic interaction with dynamic virtual environments

This paper proposes a new relative-motion-based force bounding approach (dynamic FBA) for stably interacting with dynamic virtual objects. The new approach can overcome some limitations of the previous static approach (static FBA) [8] that cannot display the interaction force with moving virtual objects because the previous controller considered only the motion of the operator. A new passivity condition is derived considering the relative motion between a virtual object and a human operator. In order to show effectiveness of the proposed approach, three typical dynamic scenarios are tested. Experimental results demonstrate that the proposed approach can ensure stability of the haptic interaction with any (even active) dynamic systems.