Increasing the impedance range of admittance-type haptic interfaces by using Time Domain Passivity Approach

Nabeel, Muhammad; Lee, Jaejun; Mehmood, Usman; Jafari, Aghil; Hwang, Jinyoung; Ryu, Jee-Hwan

doi:10.1109/iros.2015.7353431

Cited by 3 publications

(4 citation statements)

References 14 publications

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“…In order to modulate the output of the integrator, we will exploit the Time Domain Passivity Approach (TDPA) proposed in [18] and widely used in haptics for damping out the excess energy produced by the virtual environment. Recently, TDPA has been exploited for increasing the impedance that can be rendered by admittance-type haptic interfaces [19]. In our work we will combine the TDPA with the Euler integration for getting a simple and controlled explicit passive integrator.…”

Section: B Contributionmentioning

confidence: 99%

“…else. (19) where v(k) is achieved by (6). Therefore, the observed energy will be E obs (k) ≥ 0 making the network, i.e.…”

Section: Passive Integration Schemementioning

confidence: 99%

“…8. The variable damping β is modulated by the observed active energy and the applied force which will activate the PC (in (18), (19)) to provide the corrected velocity v c to the robot.…”

Section: Passive Integration Schemementioning

confidence: 99%

See 2 more Smart Citations

Reproducing physical dynamics with hardware-in-the-loop simulators: A passive and explicit discrete integrator

Stefano

Balachandran

Artigas

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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In this paper we present a passive and reliable explicit discrete integrator, which allows to preserve the energy and dynamic properties of a physical body rendered on a hardware-in-the-loop simulator. Starting from the standard Euler integrator, we identify the energy generation that results from the integration process. This energy makes the time discrete dynamics deviate from the ideal one, resulting in position drifts or stability issues. By exploiting the time domain passivity approach, the simulated dynamics is reshaped in order to preserve its physical energy properties. The proposed integration method allows precise simulation of virtual bodies on industrial robot facilities. The method has been validated in simulation and experimentally tested on the DLR OOS-SIM facility.

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Section: B Contributionmentioning

confidence: 99%

“…else. (19) where v(k) is achieved by (6). Therefore, the observed energy will be E obs (k) ≥ 0 making the network, i.e.…”

Section: Passive Integration Schemementioning

confidence: 99%

See 1 more Smart Citation

Reproducing physical dynamics with hardware-in-the-loop simulators: A passive and explicit discrete integrator

Stefano

Balachandran

Artigas

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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“…Also, virtual mass-damper model can be used to obtain a desired physical coupling with the environment by calculating the velocity from the measured forces as used in [17] and [18]. Furthermore, mass-spring-damper model is commonly used as an admittance gain and some works that used this model are [19] and [20]. Besides the mentioned models, E. Faulring et al use dynamic simulation to compute desired acceleration from applied force for admittance type hand controller [21].…”

Section: Overview Of Admittance Type Haptic Systemsmentioning

confidence: 99%

The Effects of Admittance Term on Back-Drivability

Işıtman

Ayit

Dede

2017

Mechanisms, Transmissions and Applications

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In the design of kinesthetic haptic devices, there are two main device structures namely impedance and admittance. In a customary scenario, the human operator back-drives the haptic device by holding and providing motion to the handle of the haptic device. If the type of transmission system does not allow passive back-drivability, then the back-drivability is satisfied by the use of an admittance controller. This type of a haptic device is said to have admittance structure. The selection of the admittance term in this controller plays a critical part in the task execution performance. Determination of this term is not trivial and the optimal parameters depend on not only the key performance criteria but also on the human operator. An experimental study is carried out in this work to determine the effect of the admittance term parameters on the performance of human operators in terms of the execution of the task in minimal time and the best accuracy. In this paper, the experimental set-up and the results of the experiments are presented and discussed.

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Enhancing Contact Stability in Admittance-Type Haptic Interaction Using Bidirectional Time-Domain Passivity Control

Park,

Dinc,

Lee

et al. 2023

2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

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Increasing the impedance range of admittance-type haptic interfaces by using Time Domain Passivity Approach

Cited by 3 publications

References 14 publications

Reproducing physical dynamics with hardware-in-the-loop simulators: A passive and explicit discrete integrator

Reproducing physical dynamics with hardware-in-the-loop simulators: A passive and explicit discrete integrator

The Effects of Admittance Term on Back-Drivability

Enhancing Contact Stability in Admittance-Type Haptic Interaction Using Bidirectional Time-Domain Passivity Control

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