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A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
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A passivity criterion for sampled-data bilateral teleoperation systems.

Ali Jazayeri, Mahdi Tavakoli

    IEEE Transactions on Haptics
    |May 9, 2014
    PubMed
    Summary
    This summary is machine-generated.

    Ensuring teleoperator passivity in discrete-time systems is crucial for stable and transparent remote operations. This study derives conditions for sampled-data passivity, including robot damping and sampling time limits.

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    Area of Science:

    • Robotics
    • Control Systems Engineering
    • Human-Computer Interaction

    Background:

    • Teleoperation systems require passivity for stability and transparency.
    • Discretization in control systems can lead to energy loss, potentially compromising passivity.
    • Existing passivity conditions may not directly apply to discrete-time implementations.

    Purpose of the Study:

    • To derive sufficient conditions for teleoperator passivity in discrete-time systems.
    • To provide control design guidelines for enhancing teleoperation transparency and stability.
    • To address the challenges posed by discretization in sampled-data control.

    Main Methods:

    • Formulating position error-based controllers for discrete-time implementation.
    • Analyzing system dynamics to derive passivity conditions under sampled-data control.
    • Developing a criterion for sampled-data teleoperator passivity.

    Main Results:

    • Sufficient conditions for teleoperator passivity in discrete-time were established.
    • The derived criterion includes lower bounds on robot damping, an upper bound on sampling time, and control gain limitations.
    • The analysis highlights the necessity of specific parameter ranges to maintain passivity.

    Conclusions:

    • The derived conditions ensure teleoperator passivity in discrete-time, crucial for stable and transparent remote operations.
    • The findings offer practical design guidelines for sampled-data teleoperation controllers.
    • Verification through simulations and experiments validates the proposed passivity criterion.