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All Outputs (8)

Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation (2018)
Journal Article
Singh, H., Jafari, A., Ryu, J. H., & Peer, A. (2018). Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation. Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 4972-4979. https://doi.org/10.1109/IROS.2018.8593866

© 2018 IEEE. Enhancing transparency of a teleoperation system by increasing the command-following bandwidth has not received lots of attention so far. This is considered a challenging task since in a teleoperation system the command-following bandwid... Read More about Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation.

A conceptual exoskeleton shoulder design for the assistance of upper limb movement (2018)
Journal Article
Perez, C. N., Georgilas, I., Etoundi, A., Chong, J., & Jafari, A. (2018). A conceptual exoskeleton shoulder design for the assistance of upper limb movement. Lecture Notes in Artificial Intelligence, 10965 LNAI, 291-302. https://doi.org/10.1007/978-3-319-96728-8_25

© Springer International Publishing AG, part of Springer Nature 2018. There is an increased interest on wearable technologies for rehabilitation and human augmentation. Systems focusing on the upper limbs are attempting to replicate the musculoskelet... Read More about A conceptual exoskeleton shoulder design for the assistance of upper limb movement.

Realizing low-impedance rendering in admittance-type haptic interfaces using the input-to-state stable approach (2017)
Journal Article
Nabeel, M., Jafari, A., & Ryu, J. H. (2017). Realizing low-impedance rendering in admittance-type haptic interfaces using the input-to-state stable approach. Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017-September, 914-919. https://doi.org/10.1109/IROS.2017.8202254

© 2017 IEEE. This paper proposes an approach to enlarge the impedance range of admittance-type haptic interfaces. Admittance-type haptic interfaces have advantages over impedance-type haptic interfaces in the interaction with high impedance virtual e... Read More about Realizing low-impedance rendering in admittance-type haptic interfaces using the input-to-state stable approach.

Stable and transparent teleoperation over communication time-delay: Observer-based input-to-state stable approach (2016)
Journal Article
Jafari, A., Nabeel, M., Singh, H., & Ryu, J. (2016). Stable and transparent teleoperation over communication time-delay: Observer-based input-to-state stable approach. IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium, 2016-April, 235-240. https://doi.org/10.1109/HAPTICS.2016.7463183

In this paper, an observer-based input-to-state stable approach is proposed to stabilize teleoperation systems over communication time-delay with better transparency compared with passivity approaches. In this paper, input-to-state stable approach is... Read More about Stable and transparent teleoperation over communication time-delay: Observer-based input-to-state stable approach.

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.

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.

Hybrid force-motion control of coordinated robots interacting with unknown environments (2014)
Journal Article
Jafari, A., & Ryu, J. H. (2014). Hybrid force-motion control of coordinated robots interacting with unknown environments. https://doi.org/10.1109/ICCAS.2014.6987966

© 2014 Institute of Control, Robotics and Systems (ICROS). This paper presents a unified framework for system design and control in cooperative robotic systems. It introduces a highly general cooperative system configuration involving any number of m... Read More about Hybrid force-motion control of coordinated robots interacting with unknown environments.

Transparency improved sliding-mode control design for bilateral teleoperation systems by using virtual manipulator concept (2013)
Journal Article
Jafari, A., & Ryu, J. H. (2013). Transparency improved sliding-mode control design for bilateral teleoperation systems by using virtual manipulator concept. IFAC-PapersOnLine, 3(PART 1), 21-26. https://doi.org/10.3182/20131111-3-KR-2043.00013

This paper proposes a new methodology for designing sliding mode bilateral controllers based virtual manipulator concept that aims to reach the most transparency considering parameter uncertainties and disturbances. This method shows a modified schem... Read More about Transparency improved sliding-mode control design for bilateral teleoperation systems by using virtual manipulator concept.