Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics Pub Date : 2024-01-29 DOI:10.1109/TOH.2024.3359230

Huseyin Tugcan Dinc;Thomas Hulin;Christian Ott;Jee-Hwan Ryu

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引用次数: 0

Abstract

The Time Domain Passivity Approach (TDPA) has been accepted as one of least conservative tools for designing stabilizing controllers in haptics and teleoperation, but it still suffers from conservatism because it is based on passivity. Additionally, high-frequency, immediate control actions lead to a degradation of transparency. In this paper, we propose a method to relax the conservatism of haptic interaction and enhance stable impedance range while maintaining high transparency. Based on the observation of energy exchange behavior in pressing and releasing paths in haptic interaction, we introduce an energy cycle as a completion of a pressing and releasing path. With this new concept, we compare the energies at the end of each energy cycle to estimate the energy generation and inject adaptive damping to regulate it over upcoming cycles. Because we wait a pressing-releasing cycle is completed, we allow energy to be generated, but we regulate the amount of generated energy over upcoming cycles by injecting adaptive damping. In this way, we perform low-frequency control actions on system dynamics. These in turn enable us to achieve high transparency. We show the validity of the proposed approach through several simulations and experiments, and show that it enhances the stable impedance range and transparency compared to the TDPA.

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放宽保守主义以增强触觉交互的阻抗范围和透明度

时域被动方法（TDPA）已被认为是设计触觉和远程操作稳定控制器的最不保守的工具之一，但由于它是基于被动性的，因此仍然存在保守的问题。此外，高频、即时的控制动作会导致透明度下降。在本文中，我们提出了一种方法来放松触觉交互的保守性，并在保持高透明度的同时增强稳定的阻抗范围。基于对触觉交互中按压和释放路径中能量交换行为的观察，我们引入了能量循环作为按压和释放路径的完成。利用这一新概念，我们在每个能量循环结束时对能量进行比较，以估算能量的产生，并在接下来的循环中注入自适应阻尼以调节能量。由于我们等待按压-释放循环完成，因此我们允许产生能量，但我们通过注入自适应阻尼来调节未来循环中产生的能量。通过这种方式，我们对系统动态进行低频控制。这反过来又使我们能够实现高透明度。我们通过多次模拟和实验证明了所提方法的有效性，并表明与 TDPA 相比，该方法提高了稳定阻抗范围和透明度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Haptics COMPUTER SCIENCE, CYBERNETICS-

CiteScore

5.90

自引率

13.80%

发文量

109

审稿时长

>12 weeks

期刊介绍： IEEE Transactions on Haptics (ToH) is a scholarly archival journal that addresses the science, technology, and applications associated with information acquisition and object manipulation through touch. Haptic interactions relevant to this journal include all aspects of manual exploration and manipulation of objects by humans, machines and interactions between the two, performed in real, virtual, teleoperated or networked environments. Research areas of relevance to this publication include, but are not limited to, the following topics: Human haptic and multi-sensory perception and action, Aspects of motor control that explicitly pertain to human haptics, Haptic interactions via passive or active tools and machines, Devices that sense, enable, or create haptic interactions locally or at a distance, Haptic rendering and its association with graphic and auditory rendering in virtual reality, Algorithms, controls, and dynamics of haptic devices, users, and interactions between the two, Human-machine performance and safety with haptic feedback, Haptics in the context of human-computer interactions, Systems and networks using haptic devices and interactions, including multi-modal feedback, Application of the above, for example in areas such as education, rehabilitation, medicine, computer-aided design, skills training, computer games, driver controls, simulation, and visualization.