Marcello Orlandesi

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This paper provides a convenient framework based on passivity and optimization for stability analysis and controller design for haptic systems involving multiple devices and human operators. The proposed approach exploits peculiar features of the multi-dimensional scenario and allows for taking into account structural constraints such as operator-device(More)
This paper presents a convenient framework based on passivity and Linear Matrix Inequalities (LMIs) for stability analysis and controller design for haptic systems involving multiple devices and human operators interacting with a common virtual environment. The proposed approach addresses peculiar features of the multi-dimensional scenario such as different(More)
Stability is a key feature in haptic interaction with virtual environments, since unwanted oscillations can impair realism and, most importantly, may be potentially harmful for the human operator. The issue of stability in this context has been addressed by several authors since the early 90’s (Minsky et al. (1990)) and involves quite a few aspects, since(More)
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