HapticV1, PascalFrancis, Corpus, bibRecord, 001247

Time-domain passivity control of haptic interfaces

Identifieur interne : 001247 ( PascalFrancis/Corpus ); précédent : 001246; suivant : 001248

Time-domain passivity control of haptic interfaces

Auteurs : Blake Hannaford ; Jee-Hwan Ryu

Source :

IEEE transactions on robotics and automation [ 1042-296X ] ; 2002.

RBID : Pascal:02-0471296

Descripteurs français

Pascal (Inist)
- Identification système, Observateur, Passivation, Commande adaptative, Temps réel, Haptic Intelligence Scale for Adult Blind, Passivité, Flux énergétique, Sensibilité tactile, Interface utilisateur, Temps retard, Pilotage ordinateur, Méthode domaine temps, Méthode énergétique, Modélisation.

English descriptors

KwdEn :
- Adaptive control, Computer control, Delay time, Energy flow, Energy method, Haptic Intelligence Scale for Adult Blind, Modeling, Observer, Passivation, Passivity, Real time, System identification, Tactile sensitivity, Time domain method, User interface.

Abstract

A patent-pending, energy-based method is presented for controlling a haptic interface system to ensure stable contact under a wide variety of operating conditions. System stability is analyzed in terms of the time-domain definition of passivity. We define a "Passivity Observer" (PO) which measures energy flow in and out of one or more subsystems in real-time software. Active behavior is indicated by a negative value of the PO at any time. We also define the "Passivity Controller" (PC), an adaptive dissipative element which, at each time sample, absorbs exactly the net energy output (if any) measured by the PO. The method is tested with simulation and implementation in the Excalibur haptic interface system. Totally stable operation was achieved under conditions such as stiffness >100 N/mm or time delays of 15 ms. The PO/PC method requires very little additional computation and does not require a dynamical model to be identified.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A11	`01`	`1`		`@1 HANNAFORD (Blake)`
A11	`02`	`1`		`@1 RYU (Jee-Hwan)`
A14	`01`			`@1 Department of Electrical Engineering, University of Washington @2 Seattle, WA 98195-2500 @3 USA @Z 1 aut.`
A14	`02`			`@1 Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology @2 Taejeon 305-701 @3 KOR @Z 2 aut.`
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C01	`01`		`ENG`	@0 A patent-pending, energy-based method is presented for controlling a haptic interface system to ensure stable contact under a wide variety of operating conditions. System stability is analyzed in terms of the time-domain definition of passivity. We define a "Passivity Observer" (PO) which measures energy flow in and out of one or more subsystems in real-time software. Active behavior is indicated by a negative value of the PO at any time. We also define the "Passivity Controller" (PC), an adaptive dissipative element which, at each time sample, absorbs exactly the net energy output (if any) measured by the PO. The method is tested with simulation and implementation in the Excalibur haptic interface system. Totally stable operation was achieved under conditions such as stiffness >100 N/mm or time delays of 15 ms. The PO/PC method requires very little additional computation and does not require a dynamical model to be identified.
C02	`01`	`X`		`@0 001D02D07`
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C03	`01`	`X`	`ENG`	`@0 System identification @5 01`
C03	`01`	`X`	`SPA`	`@0 Identificación sistema @5 01`
C03	`02`	`X`	`FRE`	`@0 Observateur @5 02`
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C03	`02`	`X`	`SPA`	`@0 Observador @5 02`
C03	`03`	`X`	`FRE`	`@0 Passivation @5 03`
C03	`03`	`X`	`ENG`	`@0 Passivation @5 03`
C03	`03`	`X`	`SPA`	`@0 Pasivación @5 03`
C03	`04`	`X`	`FRE`	`@0 Commande adaptative @5 04`
C03	`04`	`X`	`ENG`	`@0 Adaptive control @5 04`
C03	`04`	`X`	`SPA`	`@0 Control adaptativo @5 04`
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C03	`05`	`X`	`ENG`	`@0 Real time @5 05`
C03	`05`	`X`	`SPA`	`@0 Tiempo real @5 05`
C03	`06`	`X`	`FRE`	`@0 Haptic Intelligence Scale for Adult Blind @2 NP @5 06`
C03	`06`	`X`	`ENG`	`@0 Haptic Intelligence Scale for Adult Blind @2 NP @5 06`
C03	`06`	`X`	`SPA`	`@0 Haptic Intelligence Scale for Adult Blind @2 NP @5 06`
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C03	`08`	`X`	`SPA`	`@0 Flujo energético @5 11`
C03	`09`	`X`	`FRE`	`@0 Sensibilité tactile @5 12`
C03	`09`	`X`	`ENG`	`@0 Tactile sensitivity @5 12`
C03	`09`	`X`	`SPA`	`@0 Sensibilidad tactil @5 12`
C03	`10`	`X`	`FRE`	`@0 Interface utilisateur @5 13`
C03	`10`	`X`	`ENG`	`@0 User interface @5 13`
C03	`10`	`X`	`SPA`	`@0 Interfase usuario @5 13`
C03	`11`	`X`	`FRE`	`@0 Temps retard @5 14`
C03	`11`	`X`	`ENG`	`@0 Delay time @5 14`
C03	`11`	`X`	`SPA`	`@0 Tiempo retardo @5 14`
C03	`12`	`X`	`FRE`	`@0 Pilotage ordinateur @5 15`
C03	`12`	`X`	`ENG`	`@0 Computer control @5 15`
C03	`12`	`X`	`SPA`	`@0 Control por ordenador @5 15`
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C03	`15`	`X`	`SPA`	`@0 Modelización @5 23`
N21				`@1 273`
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Format Inist (serveur)

NO :	PASCAL 02-0471296 CRAN
ET :	Time-domain passivity control of haptic interfaces
AU :	HANNAFORD (Blake); RYU (Jee-Hwan)
AF :	Department of Electrical Engineering, University of Washington/Seattle, WA 98195-2500/Etats-Unis (1 aut.); Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology/Taejeon 305-701/Corée, République de (2 aut.)
DT :	Publication en série; Niveau analytique
SO :	IEEE transactions on robotics and automation; ISSN 1042-296X; Etats-Unis; Da. 2002; Vol. 18; No. 1; Pp. 1-10; Bibl. 20 ref.
LA :	Anglais
EA :	A patent-pending, energy-based method is presented for controlling a haptic interface system to ensure stable contact under a wide variety of operating conditions. System stability is analyzed in terms of the time-domain definition of passivity. We define a "Passivity Observer" (PO) which measures energy flow in and out of one or more subsystems in real-time software. Active behavior is indicated by a negative value of the PO at any time. We also define the "Passivity Controller" (PC), an adaptive dissipative element which, at each time sample, absorbs exactly the net energy output (if any) measured by the PO. The method is tested with simulation and implementation in the Excalibur haptic interface system. Totally stable operation was achieved under conditions such as stiffness >100 N/mm or time delays of 15 ms. The PO/PC method requires very little additional computation and does not require a dynamical model to be identified.
CC :	001D02D07
FD :	Identification système; Observateur; Passivation; Commande adaptative; Temps réel; Haptic Intelligence Scale for Adult Blind; Passivité; Flux énergétique; Sensibilité tactile; Interface utilisateur; Temps retard; Pilotage ordinateur; Méthode domaine temps; Méthode énergétique; Modélisation
ED :	System identification; Observer; Passivation; Adaptive control; Real time; Haptic Intelligence Scale for Adult Blind; Passivity; Energy flow; Tactile sensitivity; User interface; Delay time; Computer control; Time domain method; Energy method; Modeling
SD :	Identificación sistema; Observador; Pasivación; Control adaptativo; Tiempo real; Haptic Intelligence Scale for Adult Blind; Pasividad; Flujo energético; Sensibilidad tactil; Interfase usuario; Tiempo retardo; Control por ordenador; Método dominio tiempo; Método energético; Modelización
LO :	INIST-21023
ID :	02-0471296

Links to Exploration step

Pascal:02-0471296

Le document en format XML

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<ET>Time-domain passivity control of haptic interfaces</ET>
<AU>HANNAFORD (Blake); RYU (Jee-Hwan)</AU>
<AF>Department of Electrical Engineering, University of Washington/Seattle, WA 98195-2500/Etats-Unis (1 aut.); Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology/Taejeon 305-701/Corée, République de (2 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>IEEE transactions on robotics and automation; ISSN 1042-296X; Etats-Unis; Da. 2002; Vol. 18; No. 1; Pp. 1-10; Bibl. 20 ref.</SO>
<LA>Anglais</LA>
<EA>A patent-pending, energy-based method is presented for controlling a haptic interface system to ensure stable contact under a wide variety of operating conditions. System stability is analyzed in terms of the time-domain definition of passivity. We define a "Passivity Observer" (PO) which measures energy flow in and out of one or more subsystems in real-time software. Active behavior is indicated by a negative value of the PO at any time. We also define the "Passivity Controller" (PC), an adaptive dissipative element which, at each time sample, absorbs exactly the net energy output (if any) measured by the PO. The method is tested with simulation and implementation in the Excalibur haptic interface system. Totally stable operation was achieved under conditions such as stiffness >100 N/mm or time delays of 15 ms. The PO/PC method requires very little additional computation and does not require a dynamical model to be identified.</EA>
<CC>001D02D07</CC>
<FD>Identification système; Observateur; Passivation; Commande adaptative; Temps réel; Haptic Intelligence Scale for Adult Blind; Passivité; Flux énergétique; Sensibilité tactile; Interface utilisateur; Temps retard; Pilotage ordinateur; Méthode domaine temps; Méthode énergétique; Modélisation</FD>
<ED>System identification; Observer; Passivation; Adaptive control; Real time; Haptic Intelligence Scale for Adult Blind; Passivity; Energy flow; Tactile sensitivity; User interface; Delay time; Computer control; Time domain method; Energy method; Modeling</ED>
<SD>Identificación sistema; Observador; Pasivación; Control adaptativo; Tiempo real; Haptic Intelligence Scale for Adult Blind; Pasividad; Flujo energético; Sensibilidad tactil; Interfase usuario; Tiempo retardo; Control por ordenador; Método dominio tiempo; Método energético; Modelización</SD>
<LO>INIST-21023</LO>
<ID>02-0471296</ID>
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</inist>
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Time-domain passivity control of haptic interfaces

Time-domain passivity control of haptic interfaces

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