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Stiffness-reflecting energy-bounding approach for improving transparency of delayed haptic interaction systems

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Abstract

The ultimate objective of this study is to produce an interaction system haptically transparent to the human operator while guaranteeing interaction stability. In delayed haptic interaction systems (HIS) such as the bilateral teleoperation system (TS) and networked haptic virtual environments (NHVE), time delay over networks is a major cause of instability and transparency degradation. It has been proved that the passivity based energybounding approach (EBA) can guarantee robust stable interaction of the delayed HIS. However, transparency of the EBA has not been fully addressed, especially in terms of environment stiffness. This paper analyzes EBA transparency for the delayed HIS followed by experimental validation. This study demonstrates that the EBA in the delayed HIS can transparently display the environment stiffness regardless of the time delay by setting the second control parameter in the EBA to the environment stiffness value if the environment stiffness is less than the stable displayable stiffness by the EBA. For a very short period of initial contact with the very stiff environments, the stable displayable impedance range of the EBA can also be significantly increased by using the time-varying first control parameter. Experimental results show the effectiveness of the proposed approach.

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Authors and Affiliations

  1. Department of Medical System Engineering, Gwangju Institute of Science and Technology (GIST), 1 Oryong-dong, Buk-gu, Gwangju, 500-712, Korea

    Sangsoo Park

  2. School of Mechatronics, Gwangju Institute of Science and Technology (GIST), 1 Oryong-dong, Buk-gu, Gwangju, 500-712, Korea

    Riaz Uddin & Jeha Ryu

Authors
  1. Sangsoo Park
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  2. Riaz Uddin
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  3. Jeha Ryu
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Corresponding author

Correspondence to Jeha Ryu.

Additional information

Recommended by Associate Editor Shinsuk Park under the direction of Editor Euntai Kim. This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (No. 2011-0030079).

Sangsoo Park received his B.S. degree from the Department of Biomedical Engineering at Chonbuk National University, Jeonju, Korea, in 2009. He is currently working toward a Ph.D. degree at the Department of Medical System Engineering, Gwangju Institute of Science and Technology (GIST), Gwangju, Korea. His research interests include haptics, robotics, and teleoperation.

Riaz Uddin received his B.E. and M.E. degrees from the Department of Electrical Engineering at NED University of Engineering and Technology, Karachi, Pakistan, in 2005 and 2008, respectively. He joined NED as a lecturer in 2005 and now he is an assistant professor in the department of Electrical Engineering in NED University of Engineering and Technology. He is currently working toward a Ph.D. degree at the School of Mechatronics, Gwangju Institute of Science and Technology (GIST), Gwangju, Korea. His research interests include haptics, robotics, control systems, and teleoperation.

Jeha Ryu received his B.S. (1982), M.S. (1984) and Ph.D. (1991) degrees from Seoul National University, Seoul, Korea, Advanced Institute of Science and Technology (KAIST), Seoul, Korea, and the University of Iowa, USA, respectively, all in Mechanical Engineering. He is currently a professor in the School of Mechatronics, GIST. Prof. Ryu is a member of IEEE, KSME. He has published or presented more than 250 research articles and reports. His research interests include haptic interaction control, haptic modeling and rendering, and haptic applications for various multimedia systems and teleoperations.

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Park, S., Uddin, R. & Ryu, J. Stiffness-reflecting energy-bounding approach for improving transparency of delayed haptic interaction systems. Int. J. Control Autom. Syst. 14, 835–844 (2016). https://doi.org/10.1007/s12555-014-0109-9

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  • DOI: https://doi.org/10.1007/s12555-014-0109-9

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