A four-channel multilateral shared control architecture for dual-user teleoperation systems

Khademian, Behzad; Hashtrudi-Zaad, Keyvan

doi:10.1109/iros.2007.4399225

Cited by 46 publications

(24 citation statements)

References 14 publications

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“…This configuration has many real-world applications such as training a trainee to do a task under haptic guidance from a mentor. In Section 4.1, the impedance matrix of the dualuser haptic teleoperation system is found by using the four-channel multilateral shared control architecture proposed in [10]. Section 4.2 is devoted to finding passivity conditions of such a system.…”

Section: Application Of Passivity To a Dual-user Haptic Teleoperationmentioning

confidence: 99%

“…The desired position and force for each robot are weighted sums of positions and forces of the other two robots, with the weights being determined by a parameter whose value ranges from 0 to 1 [10] (see Figure 5). For instance, if = 1, the slave robot will be fully controlled by User 1 and User 2 only receives large force feedback urging him/her to follow User 1's motions.…”

Section: A Dual-user Shared Haptic Control Teleoperation Systemmentioning

confidence: 99%

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A method for passivity analysis of multilateral haptic systems

Mendez

Tavakoli

2014

Advanced Robotics

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This paper presents a novel criterion to study the stability of multilateral teleoperation systems based on passivity. Such systems (modelled as -port networks) have recently found interesting applications in cooperative haptic teleoperation and haptic-assisted training. The criterion provides researchers with an analytical, closed-form, necessary and sufficient condition useful for both analysis and design of multilateral haptic teleoperation systems. The paper shows that when = 2 the proposed conditions reduce to the wellknown Raisbeck's passivity criterion for 2-port networks. The proposed conditions are used to study the passivity (and consequently the stability) of a dual-user haptic system for control of a single teleoperated robot. Simulations and experiments are performed to further test the validity of the proposed criterion.

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Section: Application Of Passivity To a Dual-user Haptic Teleoperationmentioning

confidence: 99%

Section: A Dual-user Shared Haptic Control Teleoperation Systemmentioning

confidence: 99%

A method for passivity analysis of multilateral haptic systems

Mendez

Tavakoli

2014

Advanced Robotics

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“…Consider the "four-channel multilateral shared control architecture" given in [14] and depicted in Figure 4. In this 3-robot cooperative manipulation system, the desired velocity and force of each robot is a function of the velocities and forces of the other two robots.…”

Section: Application Of the Proposed Criterion To A Dual-user Haptic mentioning

confidence: 99%

“…It turns out that the left side of (48) is equal to zero, thus the inequality (48) also holds. Analysis of parameters ‫′ݖ‬ according to (14) leads to 2 ) ≤ 0 (54) If the equality in (54) has real solutions for ‫ܤ‬ ଵ , they will be negative and the value for ‫ܤ‬ ଵ would need to be between these negative values such that the inequality in (54) holdsthis is in conflict with (49). If, however, the equality in (54) has complex solutions for ‫ܤ‬ ଵ , then the inequality in (54) cannot hold either.…”

Section: Application Of the Proposed Criterion To A Dual-user Haptic mentioning

confidence: 99%

A passivity criterion for N-port multilateral haptic systems

Mendez

Tavakoli

2010

49th IEEE Conference on Decision and Control (CDC)

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Abstract1 . This paper presents a criterion for passivity of nport networks, which can be used to model multilateral systems involving haptic information sharing between a number of users. Such systems have recently found interesting applications in both cooperative haptic teleoperation and haptics-assisted training. The criterion presented in Theorem 1, which is necessary and sufficient for passivity of the n-port network, imposes 2n conditions on the immitance parameters of the network and on the residues of the immitance parameters at their imaginary-axis poles. It is shown that when n = 2, the proposed conditions reduce to the well-known Raisbeck's passivity criterion for two-port networks. Another special case for which the proposed criterion has been simplified corresponds to three-port networks. Finally, the passivity of a dual-user haptic system for control of a single teleoperated robot is investigated.

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“…However, in that approach, the force feedback path is considerably downscaled and a maximmal environment impedance is assumed. In [6], Khademian et al designed a 4-Channel system for multilateral control. In [8], the Raisbeck passivity criterion was applied.…”

Section: Introductionmentioning

confidence: 99%

Integrating Measured Force Feedback in Passive Multilateral Teleoperation

Panzirsch

Hulin²,

Artigas³

et al. 2016

Haptics: Perception, Devices, Control, and Applications

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Abstract. In teleoperation systems, the master robot receives force feedback from the remote slave side. Thus, the human operator can per-ceive the contact between the slave robot and its environment. Appli-cation of a force sensor at the slave robot improves the performance of the telepresence system in terms of transparency. Still, so far no approach allowing measured force feedback in time delayed multilateral systems that allow the interaction of multiple agents can be found in lit-erature. To this end, this paper presents a multilateral setup with passive measured force feedback based on the time domain passivity approach. Besides this solution to measured force feedback in multilateral systems, the presented approach promises improvements compared to other time invariant and model based approaches for measured force feedback also when applied to bilateral systems. Experiments are presented to allow for a performance analysis of the proposed system design.

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A four-channel multilateral shared control architecture for dual-user teleoperation systems

Cited by 46 publications

References 14 publications

A method for passivity analysis of multilateral haptic systems

A method for passivity analysis of multilateral haptic systems

A passivity criterion for N-port multilateral haptic systems

Integrating Measured Force Feedback in Passive Multilateral Teleoperation

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