Elimination of Cross-dimensional Artifacts in the Multi-Dof Time Domain Passivity Approach for Time-delayed Teleoperation with Haptic Feedback

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

This paper extends the state-of-the-art multi-Dof time domain passivity approach (TDPA), leading to more flexible usability and improved user experience in time-delayed teleoperation. TDPA is an effective method to guarantee stable teleoperation in the presence of communication delay. As the TDPA has gained increasing attention, several studies have focused on extending the originally proposed one-degree-of-freedom (1-Dof) TDPA to multi-Dof. In this paper, we describe that the existing multi-Dof TDPA introduces additional distortions which do not appear in the 1-Dof TDPA. More specifically, motion in one direction can cause distortion (force fluctuation and position drift) even perpendicular to the motion. We name this phenomenon cross-dimensional artifact (CDA). The CDA leads to disturbed teleoperation control and degraded user experience. To address this issue, we first offer a deep analysis of this CDA. Then, we propose a projection-based multi-Dof TDPA extension and suggest a corresponding adaptation to eliminate the CDA. Subjective experiments show that the proposed adaptation is able to remove the distortions caused by the CDA and improve the user experience for sliding tasks and perceiving object surface features.

Original languageEnglish
Title of host publication2019 IEEE World Haptics Conference, WHC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages223-228
Number of pages6
ISBN (Electronic)9781538694619
DOIs
StatePublished - Jul 2019
Event2019 IEEE World Haptics Conference, WHC 2019 - Tokyo, Japan
Duration: 9 Jul 201912 Jul 2019

Publication series

Name2019 IEEE World Haptics Conference, WHC 2019

Conference

Conference2019 IEEE World Haptics Conference, WHC 2019
Country/TerritoryJapan
CityTokyo
Period9/07/1912/07/19

Fingerprint

Dive into the research topics of 'Elimination of Cross-dimensional Artifacts in the Multi-Dof Time Domain Passivity Approach for Time-delayed Teleoperation with Haptic Feedback'. Together they form a unique fingerprint.

Cite this