All Outputs (3)

Multilateral teleoperation over communication time delay using the time-domain passivity approach (2019)
Journal Article
Ryu, J., Ha-Van, Q., & Jafari, A. (2020). Multilateral teleoperation over communication time delay using the time-domain passivity approach. IEEE Transactions on Control Systems Technology, 28(6), 2705 - 2712. https://doi.org/10.1109/TCST.2019.2948126

A general framework to stabilize multilateral teleoperation system over a communication time delay based on the well-known time-domain passivity approach (TDPA) is proposed. The uniqueness of this framework is that it is independent of the amount of... Read More about Multilateral teleoperation over communication time delay using the time-domain passivity approach.

Enhancing the rate-hardness of haptic interaction: Successive force augmentation approach (2019)
Journal Article
Singh, H., Janetzko, D., Jafari, A., Weber, B., Lee, C. I., & Ryu, J. H. (2020). Enhancing the rate-hardness of haptic interaction: Successive force augmentation approach. IEEE Transactions on Industrial Electronics, 67(1), 809-819. https://doi.org/10.1109/TIE.2019.2918500

© 1982-2012 IEEE. There have been numerous approaches that have been proposed to enlarge the impedance range of haptic interaction while maintaining stability. However, enhancing the rate-hardness of haptic interaction while maintaining stability is... Read More about Enhancing the rate-hardness of haptic interaction: Successive force augmentation approach.

Enhancing the force transparency of time domain passivity approach: Observer-based gradient controller (2019)
Presentation / Conference
Singh, H., Jafari, A., & Ryu, J. (2019, May). Enhancing the force transparency of time domain passivity approach: Observer-based gradient controller. Paper presented at The 2019 International Conference on Robotics and Automation (ICRA), Montreal, Canada

Passivity has been the most often used constraint for the stable controller design of bilateral teleoperation systems. Especially, Time Domain Passivity Approach (TDPA) has been used in many applications since it has been known as one of the least co... Read More about Enhancing the force transparency of time domain passivity approach: Observer-based gradient controller.