複数の非整数階微分を用いたVCの係数/階数同時最適化

抄録

This research studies haptic interface with a virtual coupling including fractional derivative. Virtual coupling in virtual reality is commonly composed of virtual stiffness and damping between virtual objects and the real world. In a system with long sampling rate, however, the virtual stiffness has to be low and it only presents virtual objects with soft surface. For this issue, this research proposes a virtual coupling with virtual stiffness and fractional derivative instead of virtual damping using finite impulse response; FIR approximation. In this paper, we propose a method to simultaneously optimize coefficients and orders of fractional derivatives in virtual coupling and analyze the passivity of the optimized virtual coupling. Finally, we perform experiments to show the effects in a haptic display.