Skip to Main content Skip to Navigation
Journal articles

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

Abstract : 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.
Document type :
Journal articles
Complete list of metadata

Cited literature [30 references]  Display  Hide  Download
Contributor : Minh Tu Pham Connect in order to contact the contributor
Submitted on : Friday, August 30, 2019 - 5:16:05 PM
Last modification on : Monday, September 13, 2021 - 2:44:03 PM


Files produced by the author(s)



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, Cambridge University Press, 2019, pp.on line. ⟨10.1017/S0263574719001309⟩. ⟨hal-02176256⟩



Record views


Files downloads