Valerio Novelli

Optimal Prioritized Dissipation and Closed-Form Damping Limitation under Actuator Constraints for Haptic Interfaces

Improved Free Motion Performance for TDPA-Passivated Position-Force Measured Teleoperation Architectures

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