Uncoupled Stability of Kinesthetic Haptic Systems Simulating Mass-Damper-Spring Environments with Complementary Filter
Bibliographic record
Abstract
Uncoupled stability, the condition by which the user is not in contact with the haptic device, is arguably a stringent stability condition for haptic simulation systems. Uncoupled stability of haptic systems simulating linear mass-spring or viscoelastic virtual environments have been analyzed. In this paper, we analytically and experimentally evaluate uncoupled stability for simulating mass-damper-spring virtual environments when only position or when position and velocity are available. In addition, the effect of using a linear combination of position and velocity in deriving acceleration estimate is also studied. Experimental results in a one degree-of-freedom device showed that the highest stiffness values are obtained when the acceleration is equally derived from position and velocity. This work will shed light on the interaction of the three dynamic components for virtual environment rendering.
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How this classification was reachedexpand
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 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.004 | 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".