All Outputs (5)

Increasing the impedance range of admittance-type haptic interfaces by using Time Domain Passivity Approach (2015)
Journal Article
Hwang, J. H., Nabeel, M., Lee, J., Mehmood, U., Jafari, A., & Ryu, J. H. (2015). Increasing the impedance range of admittance-type haptic interfaces by using Time Domain Passivity Approach. Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015-December, 585-590. https://doi.org/10.1109/IROS.2015.7353431

© 2015 IEEE. This paper proposes a method to increase the impedance range of admittance-type haptic interfaces. Admittance-type haptic interfaces are used in various applications that typically require interaction with high impedance virtual environm... Read More about Increasing the impedance range of admittance-type haptic interfaces by using Time Domain Passivity Approach.

Stable bilateral teleoperation with input-to-state stable approach (2015)
Conference Proceeding
Jafari, A., Nabeel, M., & Ryu, J. (2015). Stable bilateral teleoperation with input-to-state stable approach

Passivity has been the most often used constraint for the controller design of bilateral teleoperation systems. However passivity has been suffering from its own design conservatism since this is a sufficient condition for stability and representing... Read More about Stable bilateral teleoperation with input-to-state stable approach.

Network formulation and stability improvement of a bilateral teleoperation system with admittance-type master interfaces (2015)
Conference Proceeding
Nabeel, M., Jafari, A., & Ryu, J. H. (2015). Network formulation and stability improvement of a bilateral teleoperation system with admittance-type master interfaces. https://doi.org/10.1109/AIM.2015.7222796

© 2015 IEEE. This paper introduces a network formulation of bilateral teleoperation systems with admittance-type master interfaces to improve their stability range with Time Domain Passivity Approach (TDPA). Since traditional network representation o... Read More about Network formulation and stability improvement of a bilateral teleoperation system with admittance-type master interfaces.

Stable admittance type haptic interaction based on time domain passivity approach (2015)
Journal Article
Jafari, A., Totorkulov, K., & Ryu, J. (2015). Stable admittance type haptic interaction based on time domain passivity approach

In this paper, we propose a stable and high transparent admittance haptic display even in free space haptic rendering. Because considering admittance haptic rendering as a one-port network is not enough to detect the active energy, new representation... Read More about Stable admittance type haptic interaction based on time domain passivity approach.

Input-to-state stable approach to release the conservatism of passivity-based stable haptic interaction (2015)
Journal Article
Jafari, A., & Ryu, J. H. (2015). Input-to-state stable approach to release the conservatism of passivity-based stable haptic interaction. IEEE International Conference on Robotics and Automation, 2015-June(June), 285-290. https://doi.org/10.1109/ICRA.2015.7139013

© 2015 IEEE. Passivity has been a major criterion on designing a stable haptic interface due to many advantages. However, passivity has been suffering from its intrinsic conservatism since it only represents a small set of the whole stable region. Th... Read More about Input-to-state stable approach to release the conservatism of passivity-based stable haptic interaction.