Experimental studies on improving safety in haptic and teleoperation systems

A simplified approach to time domain passivity control (TDPC) is applied to a haptic teleoperation scheme. Unlike traditional TDPC, this scheme monitors the power output of a port rather than the energy summation. This method differs from traditional TDPC in that it requires no integration and is less subject to the associated problems of reset and data loss. The simplified controller is applied to a number of experiments, and is shown to improve stability and fidelity. The utility of this scheme with respect to safety is extensively.