Transparency-Oriented Passivity Control Design For Haptic-Enabled Teleoperation Systems With Multiple Degrees Of Freedom

This paper presents a novel control algorithm for haptic-enabled bilateral teleoperation systems involving several degrees of freedom. In particular, the contribution focuses on the implementation of a passivity layer for an established time domain scheme. The proposed approach aims at preserving transparency of interaction along subsets of the environment space which are preponderant for the given task, while guaranteeing the energy bounds required for passivity. The effectiveness of the proposed design is validated via an experiment performed on a virtual teleoperated environment.