7 accepted papers
Adding virtual damping to dissipate energy has been a major tool for designing stable haptic interfaces in most passivity-based approaches. However, virtual damping is known to dissipate a limited amount of energy. It even generates energy during high-velocity interaction because of the digitization
Passivity has been the most often used constraint for the stable controller design of bilateral teleoperation systems. Especially, Time Domain Passivity Approach (TDPA) has been used in many applications since it has been known as one of the least conservative passivity-based approaches. Although TD…
Enhancing transparency of a teleoperation system by increasing the command-following bandwidth has not received lots of attention so far. This is considered a challenging task since in a teleoperation system the command-following bandwidth of the slave robot motion controller cannot be increased wit…
This paper proposes an approach to enlarge the impedance range of admittance-type haptic interfaces. Admittance-type haptic interfaces have advantages over impedance-type haptic interfaces in the interaction with high impedance virtual environments. However, the performance of admittance-type haptic…
This paper proposes a method to increase the impedance range of admittance-type haptic interfaces. Admittance-type haptic interfaces are used in various applications that typically require interaction with high impedance virtual environments. However, the performance of admittance haptic interfaces…
Passivity has been a major criterion on designing a stable haptic interface due to many advantages. However, passivity has been suffering from its intrinsic conservatism since it only represents a small set of the whole stable region. Therefore, there was always limitation to increase the performanc…
Passivity has been the most often used constraint for the controller design of bilateral teleoperation systems. However passivity has been suffering from its own design conservatism since this is a sufficient condition for stability and representing only a small set of overall stability region. In o…