An Energy-Based Approach for n-dof Passive Dual-user Haptic Training Systems

Fei Liu (1) , Angel Ricardo Licona Rodriguez (2) , Arnaud Lelevé (2) , Damien Eberard (2) , Minh Tu Pham (2) , Tanneguy Redarce (2)

1 IIT@SSSA - Center for Micro-BioRobotics
2 MIS - Ampère, Département Méthodes pour l'Ingénierie des Systèmes

This paper introduces a dual-user training system whose design is based on an energetic approach. This kind of system is useful for supervised hands-on training where a trainer interacts with a trainee through two haptic devices, in order to practice on a manual task performed on a virtual or teleoperated robot (for example for an MIS task in a surgical context). This paper details the proof of stability of an Energy Shared Control (ESC) architecture we previously introduced for one degree of freedom (d.o.f.) devices. An extension to multiple degrees of freedom is proposed, along with an enhanced version of the Adaptive Authority Adjustment (AAA) function. Experiments are carried out with 3 d.o.f. haptic devices in free motion as well as in contact contexts in order to show the relevance of this architecture.

Mots clés: Computer Simulation; Hands-on Training; Dual User System; Haptic interfaces; Port-Hamiltonian Framework; Shared Control; Dual-user System

Domaines: Automatique / Robotique

Fei Liu, Angel Ricardo Licona Rodriguez, Arnaud Lelevé, Damien Eberard, Minh Tu Pham, et al.. An Energy-Based Approach for n-dof Passive Dual-user Haptic Training Systems. Robotica, 2019, pp.on line. ⟨10.1017/S0263574719001309⟩. ⟨hal-02176256⟩