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Presentations (Electrical and Computer Engineering)
Items in this Collection
- 13Electrical and Computer Engineering, Department of
- 13Electrical and Computer Engineering, Department of/Presentations (Electrical and Computer Engineering)
- 1Civil and Environmental Engineering, Department of
- 1Civil and Environmental Engineering, Department of/Research Materials (Civil & Environmental Engineering)
- 4Passivity
- 3Teleoperation
- 2Bilateral Teleoperation
- 2Impedance Control
- 2Stability
- 2Stability Analysis
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2010-12-15
In a haptic teleoperation system, closed-loop stability is influenced by the human operator and the environment dynamics, which are typically uncertain, time-varying or unknown. Therefore, in lieu of stability, the passivity of a teleoperation system as a sufficient condition for stability is...
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Stability Analysis of Teleoperation Systems under Strictly Passive and Non-passive Operator
Download2013-04-14
Ali Jazayeri, Matthew Dyck, Mahdi Tavakoli
A bilateral teleoperation system includes a human operator and an environment, which make the system stability analysis complicated due to their unknown, time-varying and nonlinear nature. Unable to have exact models for the human operator and the environment, it is typically assumed that they...
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2021-01-01
Abed Soleymani, Ali Akbar Sadat Asl, Mojtaba Yeganejou, Scott Dick, Mahdi Tavakoli, Xingyu Li
Quality and safety are critical elements in the performance of surgeries. Therefore, surgical trainees need to obtain the required degrees of expertise before operating on patients. Conventionally, a trainee’s performance is evaluated by qualitative methods that are time-consuming and prone...