The Input-to-State Stable (ISS) approach for stabilizing haptic interaction with virtual environments

Jafari, Aghil; Nabeel, Muhammad; Ryu, Jee Hwan

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.

Citation

Jafari, A., Nabeel, M., & Ryu, J. H. (2017). The Input-to-State Stable (ISS) approach for stabilizing haptic interaction with virtual environments. IEEE Transactions on Robotics, 33(4), 948-963. https://doi.org/10.1109/TRO.2017.2676127

• Journal Article Type: Article
• Acceptance Date: Jan 10, 2017
• Publication Date: Aug 1, 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