Energy-Consistent Force Feedback Laws for Virtual Environments
Why this work is in the frame
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Bibliographic record
Abstract
When digitally realized, virtual environments (VEs) do not perfectly match the physical environments they are supposed to emulate. This paper deals with energy aspects of such a mismatch, i.e., artificial energy leaks. A methodology is developed that employs smooth correction (SC) and leak dissipation (LD) to achieve a stable interconnection of the VE with the haptic device. The SC-LD naturally blends with the original laws for rendering the VE and gives rise to modified force feedback laws. These laws can be regarded as energy-consistent discretizations of their continuous-time counterparts. For some fundamental examples including virtual springs and masses, these laws are analytically reduced to simple closed-form equations. The methodology is then generalized to the multivariable case. Several experiments are conducted including a 2-DOF coupled nonlinear VE example, and a scenario leading to a sequence of contacts with a virtual object. Besides the conceptual advantage, simulation and experimental results demonstrate some other advantages of the SC-LD over well-known time-domain passivity methods. These advantages include improved fidelity, simpler implementation, and less susceptibility to produce impulsive/chattering response.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.002 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it