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In this brief, a power-based time domain passivity control is presented. The new passivity observer (PO) monitors the current power behavior and decides the activation of the passivity controller (PC). The PC output is distributed along the time index and sudden big force change is alleviated. Applications of the approach to haptic interfaces are simulated. Extensive comparisons with the two existing...
A simplified approach to time domain passivity control (TDPC) is applied to a haptic teleoperation scheme. Unlike traditional TDPC, this scheme monitors the power output of a port rather than the energy summation. This method differs from traditional TDPC in that it requires no integration and is less subject to the associated problems of reset and data loss. The simplified controller is applied to...
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