Stability and quantization-error analysis of haptic rendering of virtual stiffness and damping

Colonnese, Nick; Okamura, Allison M.

doi:10.1177/0278364915596234

Cited by 37 publications

(20 citation statements)

References 14 publications

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“…Recent work by Colonnese et al provides a rigorous discussion on stable haptic rendering [25]. VF stability is often guaranteed through the effective but conservative passivity criterion.…”

Section: Related Workmentioning

confidence: 99%

A Hybrid Active/Passive Wrist Approach for Increasing Virtual Fixture Stiffness in Comanipulated Robotic Minimally Invasive Surgery

Gruijthuijsen

Borghesan

Reynaerts

et al. 2019

IEEE Robot. Autom. Lett.

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In Minimally Invasive Surgery (MIS), the incision point acts as a fulcrum about which the surgical instrument pivots. Most robotic MIS systems foresee procedures to carefully align the robot with the incision in the patient. Such procedures disrupt the normal workflow. This hampers the clinical translation of such assistive technology. In contrast, Backdrivable, Wristed (BW) robots, especially when operated as comanipulation devices, have a minimal impact on the traditional surgical workflow in MIS, as they are readily equipped with algorithms that automate fulcrum point estimation. To improve safety, accuracy and/or task completion time, virtual fixtures can be implemented at the distal instrument tip, using an assistive BW system. This letter formalizes the problems related to such distal virtual fixtures. It then develops a hybrid active/passive wrist control strategy to improve the performance of virtual fixtures with BW systems while minimizing stability issues. Aside from an analytical example, experimental validation is added to show that the new algorithm increases the achievable stiffness of distal virtual fixtures.

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“…Recent work by Colonnese et al provides a rigorous discussion on stable haptic rendering [25]. VF stability is often guaranteed through the effective but conservative passivity criterion.…”

Section: Related Workmentioning

confidence: 99%

A Hybrid Active/Passive Wrist Approach for Increasing Virtual Fixture Stiffness in Comanipulated Robotic Minimally Invasive Surgery

Gruijthuijsen

Borghesan

Reynaerts

et al. 2019

IEEE Robot. Autom. Lett.

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“…The transfer function box of this system is shown in Figure 3. Different from Colonnese and Okamura, 21 the motor dynamics is considered in this paper. The motor parameter uncertainties will also influence the control results.…”

Section: System Modelmentioning

confidence: 99%

“…In some haptic rendering systems, the concept of a virtual spring and damper is used: for example, in a teleoperation control system, the master hand could mimic the environment that the slave hand is in contact with, it could copy the dynamic characteristic of the environment, so the human operator could 'feel' the environment. 21 The influence of time delay, 22 sampling rate and even the sensor quantization error on the stability region is discussed, as well as these factors' influence on system response accuracy. [23][24][25] In this work, the advantages of the linear model, discrete model and linear discrete hybrid model are discussed.…”

Section: Introductionmentioning

confidence: 99%

Stability analysis of virtual passive actuator with time delay and parameter uncertainties

Cao

Wang

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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The purpose of this paper is to present a virtual passive actuator which enables the manipulator joint to behave as a desired spring-damper system. When the manipulator interacts with an unknown environment or human operator, huge contact force will be generated with a high-stiffness trajectory tracking controller: to avoid violent collisions, the virtual passive actuator is proposed to diminish the interaction force, and adjust the system stiffness to adapt to the environment. With the mathematical model of the virtual passive actuator, the system’s stable region is determined based on the Routh–Hurwitz criterion. The influence of operation time delay, filter and model uncertainty is taken into consideration. Finally, the virtual passive actuator is incorporated into a manipulator, and validity is verified through a set of experiments. Experiment results show that, with the proposed controller, virtual passive actuator joint deformation is proportional to the external torque, and the proportional ratio is close to the stiffness setting: it can perform dynamic behavior just like a spring-damper system when subject to step external torque.

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“…In other work, Gil explored the effect of FDM+filter parameters on the Z-width performance in simulation [11]. Colonnese and Okamura [12] presented explicit stability and quantization error regions for virtual spring and damper rendering, offered a software tool to identify system parameters necessary to satisfy desired haptic display objectives, and verified their findings experimentally. In [13], we proposed use of the Levant's differentiator for estimating velocity, and presented preliminary results on Z-width improvement.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Velocity Estimation Methods Based on Their Effect on Haptic Device Performance

Chawda

Çelik

Malley

2018

IEEE/ASME Trans. Mechatron.

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Abstract-This paper comparatively evaluates the effect of real-time velocity estimation methods on passivity and fidelity of virtual walls implemented using haptic interfaces. Impedance width, or Z-width is a fundamental measure of performance in haptic devices. Limited accuracy of velocity estimates from position encoder data is an impediment in improving the Zwidth in haptic interfaces. We study the efficacy of Levant's differentiator as a velocity estimator, to allow passive implementation of higher stiffness virtual walls as compared to some of the commonly used velocity estimators in the field of haptics. We first experimentally demonstrate feasibility of Levant's differentiator as a velocity estimator for haptics applications by comparing Z-width performance achieved with Levant's differentiator and commonly used Finite Difference Method (FDM) cascaded with a lowpass filter. A novel Z-width plotting technique combining passivity and fidelity of haptic rendering is proposed, and used to compare the haptic device performance obtained with Levant's differentiator, FDM+lowpass filter, First Order Adaptive Windowing and Kalman filter based velocity estimation methods. Simulations and experiments conducted on a custom single degree of freedom haptic device demonstrate that the stiffest virtual walls are rendered with velocity estimated using Levant's differentiator, and highest wall rendering fidelity is achieved by First Order Adaptive Windowing based velocity estimation scheme.

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Stability and quantization-error analysis of haptic rendering of virtual stiffness and damping

Cited by 37 publications

References 14 publications

A Hybrid Active/Passive Wrist Approach for Increasing Virtual Fixture Stiffness in Comanipulated Robotic Minimally Invasive Surgery

A Hybrid Active/Passive Wrist Approach for Increasing Virtual Fixture Stiffness in Comanipulated Robotic Minimally Invasive Surgery

Stability analysis of virtual passive actuator with time delay and parameter uncertainties

Evaluation of Velocity Estimation Methods Based on Their Effect on Haptic Device Performance

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