Passive set-position modulation approach for haptics with slow, variable, and asynchronous update

Authors:
Dongjun Lee;Ke Huang
Affiliations:
Department of Mechanical, Aerospace&Biomedical Engineering, University of Tennessee-Knoxville, USA;Department of Mechanical, Aerospace&Biomedical Engineering, University of Tennessee-Knoxville, USA
Venue:
WHC '09 Proceedings of the World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Year:
2009

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Implementation and experiments of passive set-position modulation for internet teleoperation and slow/varying-rate haptics

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Extension of Colgate's passivity condition for variable-rate haptics

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Passive-set-position-modulation framework for interactive robotic systems

IEEE Transactions on Robotics

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Abstract

We consider the following problem in haptics: information update from the virtual world is slow w.r.t. the local servo-loop rate of the haptic device, and the information transmission/update between the haptic device and the virtual world is of variable rate and/or asynchronous. For this, we propose a novel control framework, that, by relying on our recently proposed passive set-position modulation (PSPM) and discrete-time passive non-iterative integrators, enables us to enforce two-port hybrid (i.e. continuous-discrete) passivity for such slow and variable/asynchronous haptics as well as to separate the virtual world simulation design from the device's servo-loop tuning. Relevant experimental results are also presented.