Dr Aghil Jafari Aghil.Jafari@uwe.ac.uk
Senior Lecturer in Robotics
The Input-to-State Stable (ISS) approach for stabilizing haptic interaction with virtual environments
Jafari, Aghil; Nabeel, Muhammad; Ryu, Jee Hwan
Authors
Muhammad Nabeel
Jee Hwan Ryu
Abstract
© 2004-2012 IEEE. Passivity has been a major criterion for designing a stable haptic interface due to its numerous advantages. However, passivity-based controllers have suffered from the design conservatism of the passivity criterion, particularly when users want to increase the maximum apparent impedance. Based on the input-to-state stable (ISS) criterion and an analogy between haptic interfaces and systems with hysteresis, this paper proposes a control framework that is less conservative than passivity-based controllers. The proposed ISS approach allows a non-predetermined finite amount of output energy to be extracted from the system. Therefore, the proposed method can increase the maximum apparent impedance compared with passivity-based approaches. The focus of this paper is on how the proposed approach is designed to satisfy the input-to-state stability criterion in real time without prior knowledge of the system. This paper also extends the primary single-port ISS approach to a two-port ISS approach for multiple-degree-of-freedom generalization. The experimental and numerical results demonstrate that the proposed ISS approach is able to stabilize a higher impedance range than the time-domain passivity approach. The experimental results also confirm that the proposed approach provides higher actual apparent impedance to the operator compared with the energy-bounding and force-bounding approaches.
Journal Article Type | Article |
---|---|
Acceptance Date | Jan 10, 2017 |
Publication Date | Aug 1, 2017 |
Deposit Date | Sep 4, 2017 |
Journal | IEEE Transactions on Robotics |
Print ISSN | 1552-3098 |
Publisher | Institute of Electrical and Electronics Engineers |
Peer Reviewed | Peer Reviewed |
Volume | 33 |
Issue | 4 |
Pages | 948-963 |
DOI | https://doi.org/10.1109/TRO.2017.2676127 |
Keywords | haptic interfaces, stability criteria, asymptotic stability, impedance, hysteresis, numerical stability |
Public URL | https://uwe-repository.worktribe.com/output/896591 |
Publisher URL | http://dx.doi.org/10.1109/TRO.2017.2676127 |
Contract Date | Oct 3, 2017 |
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