Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Pushing the limits of the CyberGrasp for haptic rendering   The CyberGrasp is a well known dataglove-exoskeleton device combination that
allows to render haptic feedback to the human fingers. Its design, however,
restricts its usability for teleoperation through a limited control bandwidth
and position sensor resolution. Therefore the system is restricted to low
achievable contact stiffness and feedback gain magnitudes in haptic rendering.
Moreover, the system prohibits simple adaption of its controller
implementation. In this paper, the ExHand Box is presented, a newly designed
back-end to widen the CyberGrasp's bandwidth restrictions and to open it up for
fully customized controller implementations. The ExHand Box provides a new
computer, interface electronics and motor controllers for the otherwise
unmodified CyberGlove and CyberGrasp hand systems. The loop frequency of the
new system can be freely varied up to 2 kHz and custom controllers can be
implemented through an automatic code generation interface. System performance
identification experiments are presented that demonstrate improved behavior in
hard contact situations over a range of sampling periods. Maximum contact
stiffnesses of up to 50kN/m in a stable condition are demonstrated, which is
significantly higher than what could be achieved with the non-customized
original system version. Moreover, a bilateral control experiment is conducted
to demonstrate the new system's usability for generic teleoperation research.
In this experiment a raycasting algorithm is introduced for pre-contact
detection in order to compensate for high delay and jitter communication links
between master and slave as they appear in an Ethernet network. It is
demonstrated that the contact stiffness can be maintained in the order of
magnitude of the system performance identification with a demonstrated
stiffness of 41kN/m in a stable condition.

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The categories of this paper are: astro-ph
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The categories of this paper are: adap-org
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The categories of this paper are: plasm-ph
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The categories of this paper are: dg-ga
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The categories of this paper are: atom-ph
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The categories of this paper are: nucl-ex
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The categories of this paper are: bayes-an
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The categories of this paper are: quant-ph
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The categories of this paper are: solv-int
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The categories of this paper are: acc-phys
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The categories of this paper are: stat
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The categories of this paper are: math
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The categories of this paper are: eess
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The categories of this paper are: funct-an
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The categories of this paper are: patt-sol
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The categories of this paper are: math-ph