Stability and transparency of bilateral teleoperators and haptic displays

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Bilateral teleoperators and kinesthetic haptic displays use force feedback to render a realistic sense of touch to a human operator. In bilateral teleoperation, a human manipulates a master robot that controls a slave robot, and feels force feedback as the slave interacts with a remote environment. In haptic displays, a human manipulates a robot to interact with a computer-rendered virtual world. Teleoperators and haptic displays are used in a wide range of applications such as surgery, human motor control research, mining/exploration, and rehabilitation. Ideally, they should be capable of rendering a large range of dynamics to the operator accurately and precisely. However, designing force-feedback systems is challenging because they have limited control rates, finite sensor resolution, and time delay, and they are dynamically coupled to the complex time-changing dynamics of the human operator. This thesis focuses on the design and control of impedance-type bilateral teleoperators and kinesthetic haptic displays. We examine one-degree-of-freedom models that include the effects of robot and human dynamics, sampling, position quantization, filtering, and time delay, with the goal of creating high performance systems that are simultaneously stable, free of noisy force signals, and accurately render the desired dynamics to the human operator. Our analysis establishes stability limits for rendering large impedances using virtual stiffness and damping, and rendering small impedances using virtual mass. We present a general sufficient condition for quantization error passivity, and sufficient conditions for position quantization induced limit cycles. We analyze factors affecting the dynamics rendered to the human operator using a novel system decomposition called ``effective impedances, " to identify important parameters for closed-loop haptic display accuracy and bilateral teleoperator transparency. We also characterize how joint space quantization error propagates to operational space coordinates and their derivatives for an arbitrary-degree-of-freedom robot. The results of this thesis serve as design and control guidelines for haptic devices, teleoperators, and exoskeletons, and are particularly relevant for applications such as surgery and rehabilitation.


Type of resource text
Form electronic; electronic resource; remote
Extent 1 online resource.
Publication date 2015
Issuance monographic
Language English


Associated with Colonnese, Nick
Associated with Stanford University, Department of Mechanical Engineering.
Primary advisor Okamura, Allison
Thesis advisor Okamura, Allison
Thesis advisor Cutkosky, Mark R
Thesis advisor Salisbury, J. Kenneth
Advisor Cutkosky, Mark R
Advisor Salisbury, J. Kenneth


Genre Theses

Bibliographic information

Statement of responsibility Nick Colonnese.
Note Submitted to the Department of Mechanical Engineering.
Thesis Thesis (Ph.D.)--Stanford University, 2015.
Location electronic resource

Access conditions

© 2015 by Nicholas Theodore Khalid Colonnese
This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).

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