Force and touch feedback for virtual reality
Force and touch feedback for virtual reality
Feedback Control Systems
Improving Contact Realism through Event-Based Haptic Feedback
IEEE Transactions on Visualization and Computer Graphics
Haptic Effects of Surgical Teleoperator Flexibility
International Journal of Robotics Research
Mechatronic design optimization of a teleoperation system based on bounded environment passivity
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
International Journal of Robotics Research
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Stability is essential for teleoperation and a prerequisite for performance. This paper analyzes the the stability/performance trade-off of a teleoperator where the slave device has a built-in passive intrinsic stiffness. Stability is quantified as time delay robustness and performance is expressed using teleoperator damping and teleoperator stiffness, the boundaries of the Colgate Z-widthTwo classic control schemes, position error and Lawrence 4-channel, are used along with a novel 5-channel scheme where the slave stiffness deflection is measured, and compensated for, to improve the performance.The teleoperator system was analyzed theoretically using a linear model and the findings were experimentally validated on a one degree of freedom teleoperation setup.It was found that:• A lower slave stiffness improves stability for all three teleoperator architectures.• The stability boundary of the three controllers is similar.• The performance of the controllers increases from: (poor) position error, 4-Channel to (excellent) 5-channel.• A classical linear analysis method can accurately predict the stability characteristics of the teleoperator system.Therefore it can be concluded that a compliant slave device offers a stability advantage for a range of teleoperation situations and that the loss of performance can be partly compensated.