Proceedings. First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference
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Abstract

This paper describes a method for identifying models of a class of nonlinear passive devices, such as switches, knobs, an buttons. A general nonlinear impedance model is presented, which accounts for dynamics that change with both position and direction. Exponentially-weighted least-squares is used to fit the nonlinear model to experimental data from a specially designed physical 1-DOF test device with inherent nonlinearities. The data are obtained using an instrumented linear probe.
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