DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jafari, Aghil | ko |
dc.contributor.author | Nabeel, Muhammad | ko |
dc.contributor.author | Ryu, Jee-Hwan | ko |
dc.date.accessioned | 2019-08-16T08:20:04Z | - |
dc.date.available | 2019-08-16T08:20:04Z | - |
dc.date.created | 2019-08-16 | - |
dc.date.created | 2019-08-16 | - |
dc.date.created | 2019-08-16 | - |
dc.date.issued | 2017-08 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON ROBOTICS, v.33, no.4, pp.948 - 963 | - |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.uri | http://hdl.handle.net/10203/264232 | - |
dc.description.abstract | Passivity has been a major criterion for designing a stable haptic interface due to its numerous advantages. However, passivity-based controllers have suffered from the design conservatism of the passivity criterion, particularly when users want to increase the maximum apparent impedance. Based on the input-to-state stable (ISS) criterion and an analogy between haptic interfaces and systems with hysteresis, this paper proposes a control framework that is less conservative than passivity-based controllers. The proposed ISS approach allows a non-predetermined finite amount of output energy to be extracted from the system. Therefore, the proposed method can increase the maximum apparent impedance compared with passivity-based approaches. The focus of this paper is on how the proposed approach is designed to satisfy the input-to-state stability criterion in real time without prior knowledge of the system. This paper also extends the primary single-port ISS approach to a two-port ISS approach for multiple-degree-of-freedom generalization. The experimental and numerical results demonstrate that the proposed ISS approach is able to stabilize a higher impedance range than the time-domain passivity approach. The experimental results also confirm that the proposed approach provides higher actual apparent impedance to the operator compared with the energy-bounding and force-bounding approaches. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | The Input-to-State Stable (ISS) Approach for Stabilizing Haptic Interaction With Virtual Environments | - |
dc.type | Article | - |
dc.identifier.wosid | 000407395200014 | - |
dc.identifier.scopusid | 2-s2.0-85016406957 | - |
dc.type.rims | ART | - |
dc.citation.volume | 33 | - |
dc.citation.issue | 4 | - |
dc.citation.beginningpage | 948 | - |
dc.citation.endingpage | 963 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON ROBOTICS | - |
dc.identifier.doi | 10.1109/TRO.2017.2676127 | - |
dc.contributor.localauthor | Ryu, Jee-Hwan | - |
dc.contributor.nonIdAuthor | Jafari, Aghil | - |
dc.contributor.nonIdAuthor | Nabeel, Muhammad | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Haptics and haptic interface | - |
dc.subject.keywordAuthor | input-to-state stability | - |
dc.subject.keywordAuthor | passivity criterion | - |
dc.subject.keywordAuthor | physical human-robot interaction | - |
dc.subject.keywordPlus | PASSIVITY | - |
dc.subject.keywordPlus | QUANTIZATION | - |
dc.subject.keywordPlus | INTERFACES | - |
dc.subject.keywordPlus | SYSTEMS | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.