Abstract
The paper presents the comprehensive transparency analyses in terms of low frequency approximation of perceived impedance for the notable passivity-based approaches such as wave variable (WV), time domain passivity observer and control (TDPC), energy-bounding approach (EBA) and predictive energy-bounding approach (Predictive-EBA). Firstly, low frequency models of perceived impedance for the aforesaid approaches are developed and then, analyzed and discussed in detail. Secondly, these approaches are compared with each other to study the transparency in free motion and contact mode for prominent two-channel (2C) force feedback architectures namely, position error-based force reflection (PE) and direct force sensing (PF). Lastly, the detailed analyses and comparisons among WV, TDPC, EBA and Predictive-EBA are done both qualitatively and quantitatively, followed by the important discussions and conclusions.
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This work was supported by the Higher Education Commission of Pakistan under grants titled “Establishment of National Centre of Robotic and Automation (DF-1009-31)” and the Neuro-Computation Lab, National Centre of Artificial Intelligence, NED University of Engineering and Technology, Karachi, Pakistan.
Riaz Uddin received his B.E. and M.E. degrees in electrical engineering from the Department of Electrical Engineering at NED University of Engineering and Technology, Karachi, Pakistan, in 2005 and 2008, respectively. He received his Ph.D. degree from the School of Mechatronics, Gwangju Institute of Science and Technology (GIST), Gwangju, Korea, in 2016. He joined NED as a lecturer in 2005 and now he is working as an Assistant Professor in the Department of Electrical Engineering & Director of the Office of Research, Innovation and Commercialization in NED University of Engineering and Technology. He is also the PI/Director of Haptics, Human-Robotics and Condition Monitoring Lab affiliated Lab of National Center of Robotics and Automation (NCRA), HEC/PC, Pakistan. He recently developed an indigenous ICU-ventilator during COVID19 pandemic. His research interests include control systems, automation, robotics, haptics, teleoperation, instrumentation, smart/energy systems, and computer networked systems.
Muhammad Affan received his B.E. degree in electrical engineering from the Department of Electrical Engineering, NED University of Engineering and Technology, Karachi, Pakistan. He is currently working as a Research Associate at National Center for Robotics and Automation, HEC.
Asad Arfeen is an Assistant Professor at the Department of Computer and Information Systems Engineering of NEDUET, Karachi Pakistan. He completed his Ph.D. degree from the University of Canterbury, New Zealand, in 2015. He has been a holder of REANNZ PlanetLab New Zealand scholarship and Battersby Trimble award for advancement of computing in New Zealand. As Principal Investigator Asad has won various competitive research grants from the Higher Education Commission of Pakistan. He has also won competitive research grant for establishing the National Research Centre for Cyber Security in Pakistan.
Jeha Ryu received his B.S. (1982), M.S. (1984) and Ph.D. (1991) degrees from Seoul National University, Seoul, Korea, Korea Advanced Institute of Science and Technology (KAIST), Seoul, Korea, and the University of Iowa, USA, respectively, all in mechanical engineering. He is currently a professor in the School of Mechatronics, GIST. Prof. Ryu is a member of IEEE, KSME. He has published or presented more than 250 research articles and reports.
Saad Ahmed Qazi received his B.E. degree in electrical engineering from the NED University of Engineering and Technology, Karachi, in 2001, an M.S. degreal signal processing applications from Lancaster University, U.K., in 2002, and a Ph.D. degree from Brunel University London, U.K., in 2006. He is currently with the NED University of Engineering and Technology as a Meritorious Professor and the Dean with the Faculty of Electrical and Computer Engineering. He is also a Principal Investigator with the Neurocomputation Laboratory, National Centre of Artificial Intelligence. He has several international publications in major areas of technology. He is also working on several national and international research projects. His research interests include digital signal processing, joint time frequency analysis, data analytics, and decision support systems.
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Uddin, R., Affan, M., Arfeen, A. et al. Low Frequency Transparency Analyses of Passivity-based Approaches for Two-channel Haptic Teleoperation Architectures. Int. J. Control Autom. Syst. 20, 220–231 (2022). https://doi.org/10.1007/s12555-020-0456-z
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DOI: https://doi.org/10.1007/s12555-020-0456-z