Perceptual-based Method for Mitigating Force Chattering in Time Domain Passivity Approach

Publikation: Beitrag in Buch/Konferenzbericht/Sammelband/Gutachten › Beitrag in Konferenzband › Beigetragen › Begutachtung

Beitragende

  • Harsimran Singh - , Deutsches Zentrum für Luft- und Raumfahrt (DLR) e.V., Centre for Tactile Internet with Human-in-the-Loop (CeTI) (Autor:in)
  • Michael Panzirsch - , Deutsches Zentrum für Luft- und Raumfahrt (DLR) e.V. (Autor:in)
  • Ribin Balachandran - , Deutsches Zentrum für Luft- und Raumfahrt (DLR) e.V. (Autor:in)
  • Jee Hwan Ryu - , Korea Advanced Institute of Science and Technology (Autor:in)
  • Christian Ott - , Technische Universität Wien (Autor:in)
  • Thomas Hulin - , Deutsches Zentrum für Luft- und Raumfahrt (DLR) e.V., Centre for Tactile Internet with Human-in-the-Loop (CeTI) (Autor:in)

Abstract

Time-delay in bilateral teleoperation systems often leads to passivity violations, necessitating the use of stability controllers. Time domain passivity approach has garnered attention within the haptics and tele-robotics field, due to demonstrating significant robustness while being less conservative compared to other passivity-based approaches. However, it's affected by two types of artifacts, namely position drift and high-frequency force vibration. This paper presents a perceptual-based scaling method to mitigate such vibrations, which would otherwise adversely affect transparency and user perception. The proposed method uses Weber's law to leverage human haptic perception thresholds to scale the delayed feedback force during the energy- out phase on the human operator side. By selectively scaling the feedback force within the human just-noticeable difference (JND) threshold, the activation of impedance-type passivity controller is reduced while maintaining overall system passivity. Experimental validation using a 1-DoF teleoperation system with 200 ms and 500 ms round-trip delay, demonstrates a significant reduction in high-frequency force vibrations.

Details

OriginalspracheEnglisch
Titel2025 IEEE World Haptics Conference, WHC 2025
Redakteure/-innenKatherine J. Kuchenbecker
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers (IEEE)
Seiten294-300
Seitenumfang7
ISBN (elektronisch)979-8-3315-3353-3
PublikationsstatusVeröffentlicht - 2025
Peer-Review-StatusJa

Publikationsreihe

ReiheWorld Haptics Conference (WHC)
ISSN2835-9518

Konferenz

Titel2025 IEEE World Haptics Conference
KurztitelWHC 2025
Dauer8 - 11 Juli 2025
Webseite
OrtSuwon Convention Center
StadtSuwon
LandSüdkorea

Schlagworte

ASJC Scopus Sachgebiete

  • Artificial intelligence - bilateral teleoperation, force chattering, Perceptual-based method, Time Domain Passivity Approach
  • Sensorische Systeme - bilateral teleoperation, force chattering, Perceptual-based method, Time Domain Passivity Approach
  • Medientechnik - bilateral teleoperation, force chattering, Perceptual-based method, Time Domain Passivity Approach

Schlagwörter

  • bilateral teleoperation, force chattering, Perceptual-based method, Time Domain Passivity Approach