The Time Domain Passivity Approach (TDPA) has been accepted as one of least conservative tools for designing stabilizing controllers in haptics and teleoperation, but it still suffers from conservatism because it is based on passivity. Additionally, high-frequency, immediate control actions lead to a degradation of transparency. In this paper, we propose a method to relax the conservatism of haptic interaction and enhance stable impedance range while maintaining high transparency. Based on the observation of energy exchange behavior in pressing and releasing paths in haptic interaction, we introduce an energy cycle as a completion of a pressing and releasing path. With this new concept, we compare the energies at the end of each energy cycle to estimate the energy generation and inject adaptive damping to regulate it over upcoming cycles. Because we wait a pressing-releasing cycle is completed, we allow energy to be generated, but we regulate the amount of generated energy over upcoming cycles by injecting adaptive damping. In this way, we perform low-frequency control actions on system dynamics. These in turn enable us to achieve high transparency. We show the validity of the proposed approach through several simulations and experiments, and show that it enhances the stable impedance range and transparency compared to the TDPA.

中文翻译：

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放松保守主义以增强触觉交互的阻抗范围和透明度

时域无源方法 (TDPA) 已被公认为是设计触觉和远程操作稳定控制器的最不保守的工具之一，但由于它基于无源，因此仍然存在保守性。此外，高频、即时的控制行动会导致透明度下降。在本文中，我们提出了一种方法来放松触觉交互的保守性并增强稳定的阻抗范围，同时保持高透明度。基于对触觉交互中按压和释放路径中能量交换行为的观察，我们引入能量循环作为按压和释放路径的完成。借助这个新概念，我们比较每个能量周期结束时的能量，以估计能量产生，并注入自适应阻尼以在即将到来的周期中对其进行调节。因为我们等待按下-释放周期完成，所以我们允许产生能量，但我们通过注入自适应阻尼来调节即将到来的周期产生的能量量。通过这种方式，我们对系统动力学进行低频控制动作。这些反过来又使我们能够实现高度透明度。我们通过多次仿真和实验证明了所提出方法的有效性，并表明与 TDPA 相比，它增强了稳定的阻抗范围和透明度。