Toward High-Performance Stable Haptic Teleoperation over the Internet: Passive Set-Position Modulation (PSPM) Approach
Pp. 193-213 (21)
Dongjun Lee and Ke Huang
This book chapter proposes the recently-developed passive set-position modulation
(PSPM) framework as a promising means toward passive, yet, high-performance
haptic teleoperation over the Internet with significant varying-delay and data-loss. We first
briefly review some representative control techniques in haptics and time-delay teleoperation
(i.e. virtual coupling, passivity observer/controller (or PO/PC), scattering/wave, and
proportional-derivative (PD) based approaches) to provide better contextuation/justification
for the development of PSPM, with a particular emphasis on how to improve performance.
We then provide a condensed derivation of the PSPM framework and a summary of key
properties of the PSPM framework and the PSPM based Internet haptic teleoperation,
along with the complete algorithm of the PSPM and some illustrative experimental results.
Some comments on the future research directions are also given.
Department of Mechanical, Aerospace, and Biomedical Engineering University of Tennessee Knoxville, TN 37996, USA