Human-in-the-Loop Stability Analysis of Haptic Rendering With Time Delay – The Effect of Delayed Feedback Control in the Operator Model

Nomberg, Reut; Nisky, Ilana

doi:10.1109/lra.2023.3301773

IEEE Robot. Autom. Lett.

2023

DOI: 10.1109/lra.2023.3301773

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Human-in-the-Loop Stability Analysis of Haptic Rendering With Time Delay – The Effect of Delayed Feedback Control in the Operator Model

Reut Nomberg

Ilana Nisky

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2024

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Cited by 2 publications

References 47 publications

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Impact of Haptic Feedback in High Latency Teleoperation for Space Applications

Louca,

Eder,

Vrublevskis

et al. 2024

J. Hum.-Robot Interact.

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Remote manipulation is a key enabler for upcoming space activities such as in-orbit servicing and manufacture (IOSM). However, due to the large distances involved, these systems encounter unavoidable signal delays which can lead to poor performance and users adopting a disjointed, ‘move-and-wait’ style of operation. We use a robot arm teleoperated with a haptic controller to test the impact of haptic feedback on delayed (up to 2.6 s: Earth-Moon communications) teleoperation performance for two example IOSM-style tasks. This user study showed that increased latency reduced performance in all of metrics recorded. In real-time teleoperation, haptic feedback showed improvements in success rate, accuracy, contact force, velocity, and trust, but, of these, only the improvements to contact forces and moving velocity were also seen at higher latencies. Accuracy and trust improvements were lost, or even reversed, at higher latencies. Results varied between the two tasks, highlighting the need for further research into the range of task types to be encountered in teleoperated space activities. This study also provides a framework by which to explore how features other than haptic feedback can impact both performance and trust in delayed teleoperation.

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Impact of Haptic Feedback in High Latency Teleoperation for Space Applications

Louca,

Eder,

Vrublevskis

et al. 2024

J. Hum.-Robot Interact.

View full text Add to dashboard Cite

show abstract

Exact discrete-time stability analysis of multi-DOF haptic rendering: Impact of multi-rate, time-delay, and mechanical parameters

Ganiny,

Koul,

Ahmad

2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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Previous studies on the stability analysis of haptic devices have predominantly focused on single-DOF devices, thereby limiting attention to multi-DOF devices, particularly those employing multi-rate sampling schemes. In this paper, we introduce a formulation for the coupled dynamics between the haptic device and the virtual environment for a multi-DOF haptic device controlled using a dual-rate sampling scheme. Subsequently, we analyze its stability through the application of a dynamic decoupling strategy within an exact discrete-time state-space framework while the device is engaged in rendering a virtual wall along one of its operational space coordinates. Furthermore, we explore how the combined influence of the dual-rate sampling approach, time delay, and the mechanical design affects the stability boundaries of the multi-DOF haptic device at a fixed workspace location as well as within the entire usable workspace. Additionally, we utilize a model-order reduction (MOR) framework to simplify the determination of the device’s stability limits, irrespective of the specific combinations of time delay and sampling rates employed.

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Human-in-the-Loop Stability Analysis of Haptic Rendering With Time Delay – The Effect of Delayed Feedback Control in the Operator Model

Cited by 2 publications

References 47 publications

Impact of Haptic Feedback in High Latency Teleoperation for Space Applications

Impact of Haptic Feedback in High Latency Teleoperation for Space Applications

Exact discrete-time stability analysis of multi-DOF haptic rendering: Impact of multi-rate, time-delay, and mechanical parameters

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