Stable admittance type haptic interaction based on time domain passivity approach

Abstract

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 of haptic interaction is presented, and new effort/flow sources are used which allow us to implement Time Domain Passivity Approach (TDPA) on the system. The proposed method, allows choosing small value of virtual mass in admittance model, which prepares high transparent admittance haptic interface in free-space rendering. Using the conventional mechanical electrical analogy, the haptic display with mechanical nature is modelled as an electrical circuit. Power correlated signal is then identified to extract passivity of the system. The passivity of admittance haptic interface is analyzed and the TDPA is applied to passivate the closed-loop system. Numerical simulation has been done and shown good performance with proposed method.