An enhanced force bounding approach for stable haptic interaction by including friction

Baek, Sang-Yun; Park, Sangsoo; Ryu, Jeha

doi:10.1007/s12541-017-0097-1

Cited by 7 publications

(3 citation statements)

References 17 publications

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“…The effect of negative damping and spring caused by ZOH and sampler is reduced by adding 𝐶𝐶(𝑧𝑧). The ISS of the system with 𝐶𝐶(𝑧𝑧) is analyzed using the ISS-Lyapunov function candidate (10). The four conditions in Table I should be satisfied for the system (35) to be ISS.…”

Section: Conversion Methods 𝒁𝒁𝒁𝒁𝒁𝒁(𝒛𝒛)𝒅𝒅𝒎𝒎𝒎𝒎𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔(𝒛𝒛)mentioning

confidence: 99%

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Control of Haptic Systems Based on Input-to-State Stability

Kimand

Lee

2022

IEEE Access

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Discretization of signals often generates additional energy in the haptic systems, and makes them unstable. The currently popular controls based on the passivity stabilize the systems by limiting the rendered force of the haptic systems so that the generated energy from the system stays below zero. The passivity-based methods are, however, often conservative and sacrifice the performance of haptic rendering. This paper proposes a control method to adjust the change rate of the stiffness of virtual environment connected to the haptic systems to satisfy the input-to-state stability (ISS) for better stability and transparency. The ISS conditions for the systems are derived by modeling the system as a linear time-varying system. The systems become dissipative if they satisfy the ISS conditions. The generated surplus energy of the dissipative system is less than a positive finite value while maintaining the stability. Since the passive system is a special case of the dissipative system, the proposed ISS-based control is less conservative than the passivity-based approaches. Performance of the proposed control is experimentally compared with the virtual coupling and the force-bounding method that are widely used passivity-based approaches. The energy generated from the system using the proposed method is positive finite whereas the generated energy using the passivity-based approaches is less than zero. This means that more energy is transferred to the operator. Increased stiffness corresponding to this additionally transferred energy can be rendered. Root-mean-square and maximum errors of the rendered forces are, therefore, reduced by at least 86 % and 50 %, respectively.

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Section: Conversion Methods 𝒁𝒁𝒁𝒁𝒁𝒁(𝒛𝒛)𝒅𝒅𝒎𝒎𝒎𝒎𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔(𝒛𝒛)mentioning

confidence: 99%

“…Theorem 2 [24]: The system in ( 8) is ISS if and only if there exists a positive definite and proper ISS-Lyapunov function 𝑉𝑉: ℝ 𝑛𝑛 → ℝ such that the following inequality is satisfied. An ISS-Lyapunov function candidate is designed as in (10).…”

Section: Input-to-state Stability Conditionsmentioning

confidence: 99%

Control of Haptic Systems Based on Input-to-State Stability

Kimand

Lee

2022

IEEE Access

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“…So the Coulomb friction component in Refs. [12,13] was taken into account in force bounding approach which stabilized haptic interaction through reducing energy accumulation. Stability boundary methods have also been proposed for haptic systems.…”

Section: Introductionmentioning

confidence: 99%

A Human Arm’s Mechanical Impedance Tuning Method for Improving the Stability of Haptic Rendering

Zhao

et al. 2020

Robotica

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SUMMARY Rendering of rigid objects with high stiffness while guaranteeing system stability remains a major and challenging issue in haptics. Being a part of the haptic system, the behavior of human operators, represented as the mechanical impedance of arm, has an inevitable influence on system performance. This paper first verified that the human arm impedance can unconsciously be modified through imposing background forces and resist unstable motions arising from external disturbance forces. Then, a reliable impedance tuning (IT) method for improving the stability and performance of haptic systems is proposed, which tunes human arm impedance by superimposing a position-based background force over the traditional haptic workspace. Moreover, an adaptive IT algorithm, adjusting the maximum background force based on the velocity of the human arm, is proposed to achieve a reasonable trade-off between system stability and transparency. Based on a three-degrees-of-freedom haptic device, maximum achievable stiffness and transparency grading experiments are carried out with 12 subjects, which verify the efficacy and advantage of the proposed method.

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Introduction to Haptic Systems

Kim,

Lee

2024

KAIST Research Series

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An enhanced force bounding approach for stable haptic interaction by including friction

Cited by 7 publications

References 17 publications

Control of Haptic Systems Based on Input-to-State Stability

Control of Haptic Systems Based on Input-to-State Stability

A Human Arm’s Mechanical Impedance Tuning Method for Improving the Stability of Haptic Rendering

Introduction to Haptic Systems

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