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Communication Dans Un Congrès Année : 2023

Optimized time-domain control of passive haptic teleoperation systems for multi-DoF interaction

Résumé

This paper presents a time-domain passivity controller for multi-DoF haptic-enabled teleoperation systems aimed at improving performance in terms of transparency for a given task. By solving an online convex optimization problem, the proposed approach enhances transparency of interaction along specific directions of the environment space which are significant for the task at hand, while guaranteeing system stability. An experimental evaluation of the effectiveness of the proposed design is presented, enrolling twenty participants. We compared the performance of the proposed approach vs. those of a standard energy-bounding time-domain algorithm during the exploration of a virtual sphere. Results show that, as the communication delay between the local and remote agents grows, the proposed technique better preserves transparency along the directions that are more important for the task at hand.
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Dates et versions

hal-04099662 , version 1 (17-05-2023)

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  • HAL Id : hal-04099662 , version 1

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Gianni Bianchini, Davide Barcelli, Domenico Prattichizzo, Claudio Pacchierotti. Optimized time-domain control of passive haptic teleoperation systems for multi-DoF interaction. 2023 - IEEE World Haptics Conference, Jul 2023, Delft, Netherlands. pp.1-7. ⟨hal-04099662⟩
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