A Simplified Time Domain Passivity Control of Haptic Interfaces

Y. Ye, Y.-J. Pan, and Y. Gupta (Canada)


Time-domain passivity, passivity observer (PO), passivity controller (PC), haptic interfaces.


In this paper, a simplified time domain passivity control is proposed. Integration is eliminated in the calculation so that the computational complexity is reduced. The power based passivity observer (PO) distributes the activation of the passivity controller (PC) and helps to smooth the output of the PC. Applications of the approach to haptic interfaces are simulated. Simulation results verify the computational simplicity and effectiveness of the approach.

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