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This paper proposes a method to increase the impedance range of admittance-type haptic interfaces. Admittance-type haptic interfaces are used in various applications that typically require interaction with high impedance virtual environments. However, the performance of admittance haptic interfaces is often judged by the lower boundary of the impedance that can be achieved without stability problem;...
Dividing the control authority of the slave robot among operators, based on the available information to them and their controlling strategy, is absolutely essential for cooperative teleoperation systems. Although there have been many studies on this, most of the analysis were limited to fixed authority and its effect on stability. None of the research has discussed how to allocate the control authority...
Passivity has been the most often used constraint for the controller design of haptic interfaces. However, the designed controller based on passivity constraint has been suffering from its conservatism, especially when the user wants to increase the maximum achievable impedance. To overcome this problem, our group have proposed Input-to-State Stable (ISS) approach [1], which reduce the design conservatism...
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