Analytical Stability Criterion in Haptic Rendering: The Role of Damping

Mashayekhi, Ahmad; Behbahani, Saeed; Ficuciello, Fanny; Siciliano, Bruno

doi:10.1109/tmech.2018.2797688

Cited by 37 publications

(16 citation statements)

References 24 publications

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“…Another paper from Mashayekhi et al 42 is included as it is quite different from their previous work. 46 This paper identify the need to extend the stability criterion developed in a previous paper 45 to work for both small and large values for damping as well as time delay.…”

Section: Instability Factorsmentioning

confidence: 99%

“…Judging from the literature, the major factors have been established quite early and different studies try to target different factors and maybe put them under a unified framework. Some papers 42,44 also claim that more factors can be incorporated into their frameworks conditionally. The user model is ignored by most and discussed by some as user behavior is unpredictable in a way, thus can lead to different outcomes.…”

Section: Instability Factors Studiesmentioning

confidence: 99%

See 1 more Smart Citation

Haptic force rendering of rigid-body interactions: A systematic review

Wang

Feng

Andersson

2021

Advances in Mechanical Engineering

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Haptic rendering has been developing for decades with different rendering approaches and many factors that affect the stability when rendering rigid-body interactions have been investigated. To get an overall understanding of the challenges in haptic rendering, we approach this topic by conducting a systematic review. This review examines different haptic rendering approaches and how to deal with instability factors in rendering. A total of 25 papers are reviewed to answer the following questions: (1) what are the most common haptic rendering approaches for rigid-body interaction? and (2) what are the most important factors for instability of haptic rendering and how to address them? Through the process of investigating these questions, we get the insight that transparency can be further explored and technical terms to describe haptic rendering can be more standardized to push the topic forward.

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Section: Instability Factorsmentioning

confidence: 99%

Section: Instability Factors Studiesmentioning

confidence: 99%

Haptic force rendering of rigid-body interactions: A systematic review

Wang

Feng

Andersson

2021

Advances in Mechanical Engineering

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“…Haptic interfaces are desired to remain stable as they inevitably work in conjunction with a human operator. Stability of uniform-rate controllers has been studied extensively in the literature [2,[7][8][9][10][11][12]; as opposed to this, multi-rate controllers have received very limited attention [3][4][5]. Gil et al [7], for instance, performed stability analysis of a 1-DoF haptic device by direct application of Routh's criterion.…”

Section: Introductionmentioning

confidence: 99%

Stability Analysis of a Dual-Rate Haptics Controller Using Discrete-Time Root-Locus Method

Ganiny

Koul

Ahmad

2021

Lecture Notes in Mechanical Engineering

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In this paper, the classical discrete-time root-locus method is extended for analyzing the stability of a dual-rate haptics controller. The given controller involves two closed-loop feedback gains, damping and stiffness (of the virtual wall), implemented at different sampling rates. Owing to the multi-variable and multi-rate nature of such controllers, analyzing their stability by the direct application of the root-locus method is not feasible. At the outset, the characteristic equation of the controller is thereby set up in a suitable mathematical form amenable to the rootlocus analysis. Thereafter the analysis is carried out by sequentially considering the damping and stiffness as feedback gains. Besides helping in establishing the stability bounds readily, the classical discrete-time root-locus method provides qualitative information about the stability contours of the dual-rate haptics controller.

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“…Park et al 14 proposed an energy bounding approach (EBA) for improving the transparency where passivity based on EBA can guarantee the stability of haptic interaction systems. A stability criterion was developed by Mashayekhi et al 15 to predict the stability boundaries, especially without restrictions on time delay and virtual damping. In Ref.…”

Section: Introductionmentioning

confidence: 99%

A Human Arm’s Mechanical Impedance Tuning Method for Improving the Stability of Haptic Rendering

Zhao

et al. 2020

Robotica

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SUMMARY Rendering of rigid objects with high stiffness while guaranteeing system stability remains a major and challenging issue in haptics. Being a part of the haptic system, the behavior of human operators, represented as the mechanical impedance of arm, has an inevitable influence on system performance. This paper first verified that the human arm impedance can unconsciously be modified through imposing background forces and resist unstable motions arising from external disturbance forces. Then, a reliable impedance tuning (IT) method for improving the stability and performance of haptic systems is proposed, which tunes human arm impedance by superimposing a position-based background force over the traditional haptic workspace. Moreover, an adaptive IT algorithm, adjusting the maximum background force based on the velocity of the human arm, is proposed to achieve a reasonable trade-off between system stability and transparency. Based on a three-degrees-of-freedom haptic device, maximum achievable stiffness and transparency grading experiments are carried out with 12 subjects, which verify the efficacy and advantage of the proposed method.

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Analytical Stability Criterion in Haptic Rendering: The Role of Damping

Cited by 37 publications

References 24 publications

Haptic force rendering of rigid-body interactions: A systematic review

Haptic force rendering of rigid-body interactions: A systematic review

Stability Analysis of a Dual-Rate Haptics Controller Using Discrete-Time Root-Locus Method

A Human Arm’s Mechanical Impedance Tuning Method for Improving the Stability of Haptic Rendering

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