Stable Haptic Interaction: Time Domain Passivity Approach
BioRobotics Lab has performed several studies to guarantee stable haptic interaction with high stiffness VEs. As an initial effort, BioRobotics Lab has proposed an energy-based approach, the so-called time-domain passivity approach (TDPA), which injects an adaptive virtual damping to satisfy the time-domain passivity constraint.
Stable Haptic Interaction: Memory-based Passivity Approach
Stable Haptic Interaction: Less Conservative Approach Is Coming
Master Device for Intuitive Teleoperation
Mobile robot teleoperation
Our lab proposed several methodologies to improve the performance in mobile robot teleoperation such as position-velocity switching command strategy and velocity dependent adaptive feedback gain scheduling method.
Improving Teleoperation Performance: Surgical Robot Teleoperation
*Courtesy of da Vinci Surgery.