Passive Position Feedback over Packet-Switching Communication Network with Varying-Delay and Packet-Loss

Lee, Dongjun; Ke, Huang

doi:10.1109/haptics.2008.4479968

Cited by 19 publications

(24 citation statements)

References 19 publications

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“…Note that the energy dissipation through B in (2) is not through the real human interaction, but completely an artifact of the (internal) control (2). The term D min (k − 1) in (9) re-harvests portion of this (otherwise-wasted) dissipation during I k−1 as defined by…”

Section: E(k)mentioning

confidence: 99%

“…To combat with this possibly passivity-breaking spring energy jump of the (closed-loop) haptic device, in this paper, we utilize our recently proposed passive set-position modulation (PSPM) [2]. More specifically, at each interrupt time t k , we solve the PSPM algorithm given in Algo.…”

Section: |X(t) − Y(k)||mentioning

confidence: 99%

“…1, for which we provide a brief explanation in the following. For more details of the PSPM for the scalar one-DOF robot case, see [2].…”

Section: |X(t) − Y(k)||mentioning

confidence: 99%

“…As shown in [2], although the (open-loop) haptic device (1), and the spring/damper of the control (2) are intrinsically passive, this form of coupling control (2) in general does not enforce the closed-loop passivity (3) due to the spring potential energy jumping at the switching instance t k . More precisely, using the skew-symmetricity ofṀ (x) − 2C(x,ẋ) of (1), we can show that: for anyt …”

Section: Introductionmentioning

confidence: 99%

“…To address this problem, in this paper, we will extend (to multi-DOF nonlinear haptic devices) and utilize our recently proposed passive set-position modulation framework (or PSPM, in short) [2], which, then, similar to the virtual coupling technique [3], enables us to connect the (continuous) haptic device's position x(t) to a sequence of (possibly delayed/sparse/time-swapped) desired set-position information y(k) received from the virtual environment (e.g. position of the virtual mass or proxy) via a spring-damper like connection, while enforcing passivity.…”

Section: Introductionmentioning

confidence: 99%

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Passive set-position modulation approach for haptics with slow, variable, and asynchronous update

Lee

2009

World Haptics 2009 - Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoper

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We consider the following problem in haptics: information update from the virtual world is slow w.r.t. the local servo-loop rate of the haptic device, and the information transmission/update between the haptic device and the virtual world is of variable rate and/or asynchronous. For this, we propose a novel control framework, that, by relying on our recently proposed passive set-position modulation (PSPM) and discrete-time passive non-iterative integrators, enables us to enforce two-port hybrid (i.e. continuous-discrete) passivity for such slow and variable/asynchronous haptics as well as to separate the virtual world simulation design from the device's servo-loop tuning. Relevant experimental results are also presented.

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Section: E(k)mentioning

confidence: 99%

Section: |X(t) − Y(k)||mentioning

confidence: 99%

“…1, for which we provide a brief explanation in the following. For more details of the PSPM for the scalar one-DOF robot case, see [2].…”

Section: |X(t) − Y(k)||mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%