A fundamental limitation of passive spring rendering with series elastic actuation

Kenanoğlu, Celal Umut and Patoğlu, Volkan (2023) A fundamental limitation of passive spring rendering with series elastic actuation. IEEE Transactions on Haptics . ISSN 1939-1412 (Print) 2329-4051 (Online) Published Online First http://dx.doi.org/10.1109/TOH.2023.3260063

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We establish a fundamental limitation of stiffness rendering with series elastic actuation by rigorously proving that no causal controller can passively render virtual stiffness levels that are higher than the stiffness of the physical series elastic element. To relax this bound, we propose the addition of a viscous damping term parallel to the elastic element to form series damped elastic actuation (SDEA). We show that there exist LTI controllers for SDEA that can relax the passivity bound on the virtual stiffness, and derive the necessary and sufficient conditions for the passive stiffness rendering with SDEA under such a controller. We experimentally verify the relaxed passive stiffness rendering bounds for SDEA, by studying the coupled stability of interactions with most destabilizing environments.
Item Type: Article
Uncontrolled Keywords: Actuators; coupled stability; Damping; Fundamental limitations of interaction control; haptic rendering of springs; High frequency; Impedance; Linear systems; passivity; Rendering (computer graphics); series (damped) elastic actuation; Springs; velocity-sourced impedance control
Divisions: Faculty of Engineering and Natural Sciences
Depositing User: Volkan Patoğlu
Date Deposited: 19 Oct 2023 15:11
Last Modified: 19 Oct 2023 15:11
URI: https://research.sabanciuniv.edu/id/eprint/48602

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