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Necessary and Sufficient Conditions for the Passivity of Impedance Rendering With Velocity-Sourced Series Elastic Actuation.

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Title: Necessary and Sufficient Conditions for the Passivity of Impedance Rendering With Velocity-Sourced Series Elastic Actuation.
Authors: Tosun, Fatih Emre1 femretosun@sabanciuniv.edu, Patoglu, Volkan1 vpatoglu@sabanciuniv.edu
Source: IEEE Transactions on Robotics. Jun2020, Vol. 36 Issue 3, p757-772. 16p.
Subjects: Impedance control, Human-robot interaction, Virtual reality, Actuators, Computer graphics, Robust control
Abstract: Series elastic actuation (SEA) has become prevalent in applications involving physical human–robot interaction, as it provides considerable advantages over traditional stiff actuators in terms of stability robustness and force control fidelity. Several impedance control architectures have been proposed for SEA. Among these alternatives, the cascaded controller with an innermost velocity loop, an intermediate torque loop, and an outermost impedance loop is particularly favored for its simplicity, robustness, and performance. In this article, we derive the necessary and sufficient conditions for passively rendering null impedance and virtual springs with this cascade-controller architecture. Based on the newly established conditions, we provide nonconservative passivity design guidelines to haptically display these two impedance models, which serve as the basic building blocks of various virtual environments, while ensuring the safety of interaction. We also demonstrate the importance of including physical damping in the actuator model for deriving the passivity conditions, when integrators are utilized. In particular, we prove the unintuitive adversary effect of physical damping on the passivity of the system by noting that the damping term reduces the system $Z$ -width, as well as introducing an extra passivity constraint. Finally, we experimentally validate our theoretical results using an SEA brake pedal. [ABSTRACT FROM AUTHOR]
Copyright of IEEE Transactions on Robotics is the property of IEEE and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Necessary and Sufficient Conditions for the Passivity of Impedance Rendering With Velocity-Sourced Series Elastic Actuation.
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  Data: <searchLink fieldCode="AR" term="%22Tosun%2C+Fatih+Emre%22">Tosun, Fatih Emre</searchLink><relatesTo>1</relatesTo><i> femretosun@sabanciuniv.edu</i><br /><searchLink fieldCode="AR" term="%22Patoglu%2C+Volkan%22">Patoglu, Volkan</searchLink><relatesTo>1</relatesTo><i> vpatoglu@sabanciuniv.edu</i>
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  Data: <searchLink fieldCode="JN" term="%22IEEE+Transactions+on+Robotics%22">IEEE Transactions on Robotics</searchLink>. Jun2020, Vol. 36 Issue 3, p757-772. 16p.
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  Data: <searchLink fieldCode="DE" term="%22Impedance+control%22">Impedance control</searchLink><br /><searchLink fieldCode="DE" term="%22Human-robot+interaction%22">Human-robot interaction</searchLink><br /><searchLink fieldCode="DE" term="%22Virtual+reality%22">Virtual reality</searchLink><br /><searchLink fieldCode="DE" term="%22Actuators%22">Actuators</searchLink><br /><searchLink fieldCode="DE" term="%22Computer+graphics%22">Computer graphics</searchLink><br /><searchLink fieldCode="DE" term="%22Robust+control%22">Robust control</searchLink>
– Name: Abstract
  Label: Abstract
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  Data: Series elastic actuation (SEA) has become prevalent in applications involving physical human–robot interaction, as it provides considerable advantages over traditional stiff actuators in terms of stability robustness and force control fidelity. Several impedance control architectures have been proposed for SEA. Among these alternatives, the cascaded controller with an innermost velocity loop, an intermediate torque loop, and an outermost impedance loop is particularly favored for its simplicity, robustness, and performance. In this article, we derive the necessary and sufficient conditions for passively rendering null impedance and virtual springs with this cascade-controller architecture. Based on the newly established conditions, we provide nonconservative passivity design guidelines to haptically display these two impedance models, which serve as the basic building blocks of various virtual environments, while ensuring the safety of interaction. We also demonstrate the importance of including physical damping in the actuator model for deriving the passivity conditions, when integrators are utilized. In particular, we prove the unintuitive adversary effect of physical damping on the passivity of the system by noting that the damping term reduces the system $Z$ -width, as well as introducing an extra passivity constraint. Finally, we experimentally validate our theoretical results using an SEA brake pedal. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of IEEE Transactions on Robotics is the property of IEEE and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1109/TRO.2019.2962332
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      – Code: eng
        Text: English
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        PageCount: 16
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    Subjects:
      – SubjectFull: Impedance control
        Type: general
      – SubjectFull: Human-robot interaction
        Type: general
      – SubjectFull: Virtual reality
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      – SubjectFull: Actuators
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      – SubjectFull: Computer graphics
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      – SubjectFull: Robust control
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      – TitleFull: Necessary and Sufficient Conditions for the Passivity of Impedance Rendering With Velocity-Sourced Series Elastic Actuation.
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              Text: Jun2020
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              Y: 2020
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