Digital Control System Design
Visuohaptic Simulation of Bone Surgery for Training and Evaluation
IEEE Computer Graphics and Applications
International Journal of Robotics Research
Haptic-enabled Collaborative Training with Generalized Force and Position Mappings
HAPTICS '08 Proceedings of the 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Homotopy switching model for dyad haptic interaction in physical collaborative tasks
WHC '09 Proceedings of the World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Haptics For Teleoperated Surgical Robotic Systems
Haptics For Teleoperated Surgical Robotic Systems
Modeling and control of cooperative teleoperation systems
IEEE Transactions on Robotics
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A novel shared control architecture is presented for dual-user haptic training simulation systems for enhanced interaction between the users and between each user and the virtual environment. The coupled stability of the proposed control architecture against uncertainties in the environment and the user's dynamics is investigated using the three-port master-slave network model of the dual-user haptic simulation system. For this purpose, Llewellyn's unconditional stability criterion is applied to an equivalent two-port network model obtained from the corresponding three-port network, considering the environment as a load termination. The kinesthetic performance of the proposed architecture is numerically analyzed for transparency and evaluated against a benchmark control architecture under different operating conditions, such as various types of environments, users' grasps, and levels of dominance of users over the task. An experimental user study is carried out to assess the effectiveness of the proposed architecture in terms of users' perception of environment stiffness sensing, device agility, and haptic guidance reception.