Time Domain Passivity Control for multi-degree of freedom haptic devices with time delay

Hertkorn, Katharina; Hulin, Thomas; Kremer, Philipp; Preusche, Carsten; Hirzinger, Gerd

doi:10.1109/robot.2010.5509148

Cited by 24 publications

(20 citation statements)

References 9 publications

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“…It was improved with respect to various aspects, e.g. in [4], [5], [6]. Yet, the 1 T. Hulin {Thomas.Hulin, Alin.Albu-Schaeffer}@dlr.de practical use of this approach reveals some problems, such as imprecise energy observation and possibly delayed energy dissipation, causing the haptic system to become active.…”

Section: Introductionmentioning

confidence: 99%

Optimal control for haptic rendering: Fast energy dissipation and minimum overshoot

Hulin

Camarero

Albu‐Schäffer

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Controlling haptic devices in an optimal way is crucial to achieve both, best performance and most realistic haptic feedback. The present article investigates control design of a single degree of freedom haptic device that is interacting with a human operator and rendering a virtual wall affected by time delay. To this end, it suggests different optimization criteria based on the step response of the haptic system. These criteria cover fundamental requirements for efficiently using haptic devices, particularly fast settling and minimum overshoot. For each criterion an optimal path and point inside the stable region of the virtual wall parameters is derived. These optima depend mainly on the system mass, sampling time and time delay. This approach is supported by experiments on two devices, a Falcon haptic device and a DLR/KUKA Light-Weight Robot arm.

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Section: Introductionmentioning

confidence: 99%

Optimal control for haptic rendering: Fast energy dissipation and minimum overshoot

Hulin

Camarero

Albu‐Schäffer

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

Self Cite

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“…For instance, problems such as signal sampling errors may occur between a discrete time system (virtual environments) and a continuous time system (operating end of force feedback arm) due to quantification [20], data sampling [21,22], numerical integration methods (forward rule, backward rule, trapezoidal Rule) [23,24], or time delay [25][26][27]. To eliminate instabilities caused by these phenomena, this study sought to design a tactile controller employing the principle of conservation of energy proposed by James Prescott Joule.…”

Section: Estimator and Controller Designmentioning

confidence: 99%

Development of an Augmented Reality Force Feedback Virtual Surgery Training Platform

Chen

Lin

Chang

et al. 2011

AUSMT

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Abstract:In order to develop a virtual surgery training platform with a force feedback function so as to facilitate the training of new medical personnel, this study first had to establish a virtual environment, and then implement interactions involving vision and tactile sensations. The system's augmented reality function modules include the establishment of an augmented reality environmental space, image loading and model establishment, and force feedback modules, as well as the required design for collision detection, object parameter settings, and controller functions. Apart from combining a virtual environment with force feedback and establishing diverse force feedback modules, this project also overcomes the single-point sensor restriction of most force feedback hardware, and establishes a tactile cutting function. In addition to the establishment of force feedback modules, the project further employs the conservation of energy principle in the design of the energy estimator and controller, and completes the design of a stable virtual surgery training platform.

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“…Most studies have proposed improving virtual dissipation through either replacing the backward differentiation by an enhanced velocity estimation [10], or introducing an additional adaptive dissipative term. A considerable amount of research has been devoted to the latter trend, from the seminal work [11] which introduces the basic passivity-observer passivity-controller (POPC) method to recent investigations that extend its applicability [12]. The time-varying damping adapted through energy observation adds some dynamics that does not have a simple physical interpretation and cannot be easily analyzed.…”

Section: Introductionmentioning

confidence: 99%

“…Other possibilities are the constant mean velocity approximation and extrapolation[12]. We will use the simplest approximation, and deal with the remaining leaks afterwards.…”

mentioning

confidence: 99%

Energy-consistent haptic rendering of contact forces

Mohtat

Kövecses

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Enhancing the realism of the perceived contact force is a primary challenge in haptic rendering of virtual walls (VWs) and objects (VOs). For VOs, this goal directly translates into accurate rendering of not only stiffness, but also mass. The most challenging situation arises when the stiffness of the object is large, its mass is small, and sampling is slow. To address this challenge, a framework entitled highfidelity haptic rendering (HFCR) has been developed. The HFCR framework is composed of the following three main strategies: an energy-consistent rendering of the contact force, smooth transition between contact modes, and remaining leak dissipation. The essence of all these strategies is to make the energy of the VO emulate its continuous-time counterpart. This is achieved through physically meaningful modifications in the constitutive relations to suppress artificial energy leaks. This paper reports simulation and experiments involving the onedimensional canonical model of a VO to illustrate the HFCR framework and compare it to the existing methods. Results demonstrate the promising stability and force rendering fidelity of this framework.

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Time Domain Passivity Control for multi-degree of freedom haptic devices with time delay

Cited by 24 publications

References 9 publications

Optimal control for haptic rendering: Fast energy dissipation and minimum overshoot

Optimal control for haptic rendering: Fast energy dissipation and minimum overshoot

Development of an Augmented Reality Force Feedback Virtual Surgery Training Platform

Energy-consistent haptic rendering of contact forces

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