Stability and Performance Analysis of Human-Machine Interaction in Haptic Systems, M.Sc. Thesis Sharif University of Technology ; Ahmadian, Mohammad Taghi (Supervisor) ; Vossoughi, Gholamreza (Supervisor)
Abstract
Transparency is a measure of performance in haptic devices. In order to improve transparency and reduce the difference between the impedance transmitted to the user and the target impedance it is necessary to compensate for the dynamics of the haptic device. Due to stability reasons improvement of transparency is limited. Passivity as a stability criterion has been used widely in design and analysis of haptic devices. Since passivity is a conservative criterion, it acts as an obstacle in improving transparency of the haptic interfaces. In this project instead of passivity, robust stability of the interaction is studied in the presence of parametric uncertainties due to variations in user...
Cataloging briefStability and Performance Analysis of Human-Machine Interaction in Haptic Systems, M.Sc. Thesis Sharif University of Technology ; Ahmadian, Mohammad Taghi (Supervisor) ; Vossoughi, Gholamreza (Supervisor)
Abstract
Transparency is a measure of performance in haptic devices. In order to improve transparency and reduce the difference between the impedance transmitted to the user and the target impedance it is necessary to compensate for the dynamics of the haptic device. Due to stability reasons improvement of transparency is limited. Passivity as a stability criterion has been used widely in design and analysis of haptic devices. Since passivity is a conservative criterion, it acts as an obstacle in improving transparency of the haptic interfaces. In this project instead of passivity, robust stability of the interaction is studied in the presence of parametric uncertainties due to variations in user...
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