Virtual Reality: Concepts and Technologies

Control of a force feedback interface 189

C

v

o

v

i

f

o

f

i

Figure 9.9 Chain quadripole (f

i,o

and v

i,o

force and flow variables respectively)

B

M

v

o

v

i

f

o

f

i

Figure 9.10 Inertia-Damper Quadripole

B

K

1

v

o

v

i

f

o

f

i

Figure 9.11 Elasticity-Damper Quadripole

f

o

v

i

τ

v

o

f

i

Figure 9.12 Transmission Quadripole

• The “hybrid’’ form, which highlights the transfers that are characteristic of the

system;

• The “distribution’’ form, which transposes the problems of space of the force and

flow (speed) variables to the space of the wave variables. This space helps to better

understand the energy exchanges between sub-systems.

Only the “chain’’ form is presented above (Figure 9.9).

For example, ...