A Method for Dynamics Identification for Haptic Display of the Operating Feel in Virtual Environments

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review

12 Scopus Citations
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Original languageEnglish
Pages (from-to)476-482
Journal / PublicationIEEE/ASME Transactions on Mechatronics
Issue number4
Publication statusPublished - Dec 2003


Realistic dynamics models are important for haptic display for virtual reality systems. Such dynamic models are desirably obtained via experimental identification. However, traditional dynamics identification methods normally require large sized training data sets, which maybe difficult to meet in many practical applications. To obtain the dynamics models, we present, in this paper, an identification method using support vector machines regression algorithm which is more effective than traditional methods for sparse training data. This method can be used as a generic learning machine or as a special learning technique that can make full use of the available knowledge about the dynamics structure. The experimental results show the application of our method for identifying friction models for haptic display.

Research Area(s)

  • Dynamics identification, Haptic display, Support vector machines (SVM), Virtual-reality (VR)-based training