10 accepted papers
Passivity-based methods are widely used in tele-operation to guarantee stability, especially for the widely used Position-Force measured (PFm) architecture. Among them, Time Domain Passivity Approach (TDPA) achieves stability through passivation, generating a dissipation action that degrades the ref
Lower Limb Exoskeletons (LLEs) are wearable robotic systems that provide mechanical power to the user. Human-exoskeleton (HE) connections must guarantee the subsistence of the user’s natural behavior during the interaction, avoiding the exertion of undesired forces, i.e., the robot must be transpare…
Haptic interaction often requires stabilizing controllers for safety. The Time-Domain Passivity Approach guarantees passivity (then stability) by observing and dissipating energy generated from active elements in a network. The dissipating action is performed by a Passivity Controller, whose action…
In interacting with stiff environments through teleoperated systems, time delays cause a mismatch between haptic feedback and the expected feedback by the operator. This mismatch causes artefacts in the feedback, which decrease transparency, but so does filtering these artefacts. Through modelling o…
The accomplishment of a successful teleoperation task requires guaranteeing system stability and transparency. Communication delay (in particular variable time delay), quantization and discretization negatively affect system stability and might be overcome with Time Domain Passivity Approach (TDPA),…
A major challenge in the design and control of exoskeletons is the preservation of the user.s natural behavior when interacting with these machines. From this point of view, one of the most important features is the transparency of the exoskeleton. An ideally transparent exoskeleton follows the user
Search and rescue robotics is becoming a relevant topic in the last years and the growing number of robotic platforms and dedicated projects is the evidence of the interest in this area. In this context, the possibility to drive a remote robot with an exoskeleton is a promising strategy to enhance d…