All Outputs (3)

Multi degree-of-freedom successive stiffness increment approach for high stiffness haptic interaction (2016)
Presentation / Conference
Singh, H., Jafari, A., & Ryu, J. (2016, November). Multi degree-of-freedom successive stiffness increment approach for high stiffness haptic interaction. Paper presented at Asia Haptics, Kashiwanoha, Japan

In haptic interaction, stability and the object’s hardness perception are of great significance. Although numerous studies have been done for stable haptic interaction, however, most of them sacrifice the actual displayed stiffness as a cost of stabi... Read More about Multi degree-of-freedom successive stiffness increment approach for high stiffness haptic interaction.

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.

Independent force and position control for cooperating manipulators handling an unknown object and interacting with an unknown environment (2016)
Journal Article
Ryu, J. H., Jafari, A., & Jee-Hwan, R. (2016). Independent force and position control for cooperating manipulators handling an unknown object and interacting with an unknown environment. Journal of The Franklin Institute, 353(4), 857-875. https://doi.org/10.1016/j.jfranklin.2015.12.010

© 2016 The Franklin Institute. Published by Elsevier Ltd. All rights reserved. This paper presents a unified framework for system design and control in cooperative robotic systems. It introduces a highly generalized cooperative system configuration t... Read More about Independent force and position control for cooperating manipulators handling an unknown object and interacting with an unknown environment.