Z-Qualities and Renderable Mass-Damping-Stiffness Spaces: Describing the Set of Renderable Dynamics of Kinesthetic Haptic Displays

IEEE World Haptics Conference


In this paper we define language and definitions to define the renderable set of dynamics that a general kinesthetic haptic display can render to a human operator. This is accomplished in three steps. First, we present a model that applies to every kinesthetic haptic display. Then, we define the Z-Qualities of a haptic display: characteristics that describe the display’s stability, sensitivity to instrumentation error, speed of changing the rendered dynamics, and accuracy of the rendered and desired dynamics. Finally, we define the Renderable Mass-Damping-Stiffness Spaces of a haptic display: the set of mass-damper-spring impedances that the display can render that satisfy specified Z-Quality constraints. We highlight existing key results for various Z-Qualities, and provide illustrative examples of renderable mass-damping-stiffness spaces for popular specified Z-Qualities ‘Passiva’ and ‘Stabila.’ This work aims to provide a framework for determining if a given haptic display can render dynamics with certain qualities, and we hope is particularly useful for psychophysical and scientific studies where accurate rendered dynamics to the human are essential.

Latest Publications