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Time-domain passivity control of haptic interfaces
Abstract
A patent-pending, energy-based method is presented for controlling a haptic interface system to ensure stable contact under a wide variety of operating conditions. System stability is analyzed in terms of the time-domain definition of passivity. We define a "passivity observer" (PO) which measures energy flow in and out of one or more subsystems in real-time software. Active behavior is indicated by a negative value of the PO at any time. We also define the "passivity controller" (PC), an adaptive dissipative element which, at each time sample, absorbs exactly the net energy output (if any) measured by the PO. The method is tested with simulation and implementation in the Excalibur haptic interface system. Totally stable operation was achieved under conditions such as stiffness >100 N/mm or time delays of 15 ms. The PO/PC method requires very little additional computation and does not require a dynamical model to be identified.
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Cited by
Toward Haptic Communications Over the 5G Tactile Internet
Antonakoglou, K., Xu, X., Steinbach, E., Mahmoodi, T., & Dohler, M. (2018) · IEEE Communications Surveys & Tutorials · doi:10.1109/comst.2018.2851452 · Cited by 250
Haptic Codecs for the Tactile Internet
Steinbach, E., Strese, M., Eid, M., Liu, X., Bhardwaj, A., Liu, Q., Al-Ja'Afreh, M., Mahmoodi, T., Hassen, R., El Saddik, A., et al. (2019) · Proceedings of the IEEE · doi:10.1109/jproc.2018.2867835 · Cited by 166
Atashzar, S. F., Shahbazi, M., Tavakoli, M., & Patel, R. V. (2017) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2016.2594584 · Cited by 78
Atashzar, S. F., Polushin, I. G., & Patel, R. V. (2017) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2623336 · Cited by 57
Atashzar, S. F., Shahbazi, M., Samotus, O., Tavakoli, M., Jog, M. S., & Patel, R. V. (2016) · IEEE Journal of Selected Topics in Signal Processing · doi:10.1109/jstsp.2016.2530632 · Cited by 45
Metadata
- Authors
- Hannaford, B., & Ryu, J.-H.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 2002
- Volume
- 18
- Issue
- 1
- Pages
- 1-10
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2153631465
- Cited by
- 767
- References
- 0
- FWCI
- 90.48
- Type
- journal article
- Language
- en
- Open access
- closed
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- Hannaford, B., & Ryu, J.-H. (2002). Time-domain passivity control of haptic interfaces. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.988969
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