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

Research output: Contribution to book/Conference proceedings/Anthology/Report › Conference contribution › Contributed › peer-review

Contributors

  • Harsimran Singh - , German Aerospace Center (DLR), Centre for Tactile Internet with Human-in-the-Loop (CeTI) (Author)
  • Michael Panzirsch - , German Aerospace Center (DLR) (Author)
  • Ribin Balachandran - , German Aerospace Center (DLR) (Author)
  • Jee Hwan Ryu - , Korea Advanced Institute of Science and Technology (Author)
  • Christian Ott - , Vienna University of Technology (Author)
  • Thomas Hulin - , German Aerospace Center (DLR), Centre for Tactile Internet with Human-in-the-Loop (CeTI) (Author)

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

Original languageEnglish
Title of host publication2025 IEEE World Haptics Conference, WHC 2025
EditorsKatherine J. Kuchenbecker
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages294-300
Number of pages7
ISBN (electronic)979-8-3315-3353-3
Publication statusPublished - 2025
Peer-reviewedYes

Publication series

SeriesWorld Haptics Conference (WHC)
ISSN2835-9518

Conference

Title2025 IEEE World Haptics Conference
Abbreviated titleWHC 2025
Duration8 - 11 July 2025
Website
LocationSuwon Convention Center
CitySuwon
CountryKorea, Republic of

Keywords

Keywords

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