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— A recently proposed method for stabilizing haptic interfaces and teleoperation systems was tested with a " PHANToM " commercial haptic device. The " Passivity Observer " (PO) and " Passivity Controller " (PC) stabilization method was applied to stabilize the system but also excited a high frequency mode in the device. To solve this problem, we propose a(More)
— The influence of viscous damping and delay on the stability of haptic systems is studied in this paper. The stability boundaries have been found by means of different approaches. Although the shape of these stability boundaries is quite complex, a new linear condition which summarizes the relation between virtual stiffness, viscous damping and delay is(More)
— The time domain passivity framework is attracting interest as a method for granting stability in both telerobotics and haptic contexts; this paper employs this approach in order to introduce a novel concept, the Bilateral Energy Transfer for haptic telepresence. Loosely speaking, the Bilateral Energy Transfer is the straightforward transfer of energy(More)
Among the methods to grant the stability of a telemanipulation system , the bilateral time domain passivity framework has the appealing characteristic to consider both the forces and velocities signal exchanged between the master and slave systems, and the power introduced or dissipated by the elements that compose the whole telemanipulation system. In(More)
— In this paper, modified two-port time-domain pas-sivity approach is proposed for stable bilateral control of teleop-erators under time-varying communication delay. We seperate input and output energy at each port of a bilateral controller, and propose a sufficient condition for satisfying the passivity of the bilateral controller including time-delay.(More)