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Passivity and Stability Boundaries for Haptic Systems with Time Delay

Hulin, Thomas and Albu-Schäffer, Alin and Hirzinger, Gerd (2014) Passivity and Stability Boundaries for Haptic Systems with Time Delay. IEEE Transactions on Control Systems Technology, 22 (4), pp. 1297-1309. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TCST.2013.2283372. ISSN 1063-6536.

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6648390


This paper presents a passivity and a stability analysis of a one degree of freedom haptic device that is interacting with a virtual wall. These two analyses take into account the influence of a human operator and time delay. A peculiarity of the presented approach is the exact combination of discrete- and continuous-time elements, which reveals fundamental parameter dependencies for passivity and stability. These dependencies do not only differ in scale for passivity and stability, but consist in substantially different relations. By using realistic parameter ranges for human arms, this paper clearly illustrates that the maximum stable stiffness of virtual walls is far higher than admitted by passivity. Responsible for this great disparity is the limited stiffness of real human arms, as passivity covers a stiffness range that is orders of magnitudes larger than feasible. Finally, useful guidelines for designing stable haptic systems are concluded.

Item URL in elib:https://elib.dlr.de/89634/
Document Type:Article
Title:Passivity and Stability Boundaries for Haptic Systems with Time Delay
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Hulin, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-3814-075XUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074UNSPECIFIED
Date:July 2014
Journal or Publication Title:IEEE Transactions on Control Systems Technology
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1297-1309
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Haptic rendering, passivity analysis, stability analysis, time delay
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Hulin, Dr. Thomas
Deposited On:03 Sep 2014 11:23
Last Modified:29 Nov 2023 08:37

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