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Haptic perception and display of softness are important parts of the haptic display technique, which is currently the frontier in teleoperation systems and human-computer interaction. A portable softness display device is developed for this study. The device can quickly change the displayed stiffness by controlling the deformable length of the elastic element. Ideally, when a human operator's fingertip...
This paper presents an LMI approach to design a robust controller for teleoperation systems with unsymmetric time-varying delays. The position error feedback control scheme is considered for the master and slave manipulators. The overall systems is modelled as differential equations with multiple time delays. By using Lyapunov functional, we give the sufficient stability condition dependent on the...
In this paper, we analyze the stability robustness of teleoperation systems, coupled to operators and environments with finite range of dynamic variations. A new graphical extension of the scattering-based absolute stability method [5] is proposed, which incorporates minimum inherent damping of the operator as well as bounds on the environment impedance. The proposed method provides both mathematical...
In order to enable intuitive physical interaction with autonomous robots as well as in collaborative multi-user virtual reality and tele-operation systems a deep understanding of human-human haptic interaction is required. In this paper the effect of haptic interaction in single and dyadic conditions is investigated. Furthermore, an energy-based framework suitable for the analysis of the underlying...
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