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A Dual-user Teleoperation System with Adaptive Authority Adjustment - - PowerPoint PPT Presentation

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A Dual-user Teleoperation System with Adaptive Authority Adjustment for Haptic Training Fei LIU*, Arnaud Lelev, Damien Eberard, Tanneguy Redarce fei.liu@insa-lyon.fr Laboratory Ampre University of Lyon, INSA de Lyon July 23, 2015 1 / 16

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A Dual-user Teleoperation System with Adaptive Authority Adjustment for Haptic Training

Fei LIU*, Arnaud Lelevé, Damien Eberard, Tanneguy Redarce fei.liu@insa-lyon.fr

Laboratory Ampère University of Lyon, INSA de Lyon

July 23, 2015

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Motivation: dual-user haptic training system

Traditional Training

Medical experiments : phantoms, cadavers, animals → costly and lack realism from human body Block box haptic device : difficult for performance evaluation Virtual Reality based simulators: no haptic feedback

Our Motivation

Dual-user: trainer and trainee together Haptic feedback 3D haptic rendering of the environment

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Background

Existing Architectures

No full haptic feedback [Nudehi-2005] Linear dynamics [Khademian-2011] Nonlinear dynamics, no transparency analysis [Ghorbanian-2013] No delay [Khademian-2011, Jian-2014]

Stability/Passivity Method

H∞ [Nudehi-2005] Llewellyn’s unconditional stability criterion [Khademian-2011] Zeheb-Walach criteria [Razi-2014] Lyapunov-Krasovski function [Ghorbanian-2013] Raisbeck’s passivity criterion [Jian-2014] Limitation for: Nonlinear dynamics, Delays (data losses), Mode Switching Stability

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Background

Port-Hamiltonian Modeling Approach [B. Maschke-1992, S. Stramigioli-2001]

Energy based approach: energy variable pairs → force, velocity Hamiltonian function: formed as a Lyapunov function → passivity IPC controller: intrinsically passive controller, modeled within PH form Composability: inherits Hamiltonian structure by interconnection (Dirac structure)

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Our Topic

Modeling

System interconnection : Port-Hamiltonian Approach ⇒ simplifies passive system design Communication channel : Scattering Transformation ⇒ to keep delayed transmission passive

Control

Controller : Intrinsically Passive Controller (IPC) ⇒ modeled within port-Hamiltonian form, passive Authority management : Online Authority Adjustment (OAA) Transparency : with/without delays

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SLIDE 6

Contributions

Contributions

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Overall System Architecture

Bilateral teleoperation [C. Secchi-2003] Dual-user teleoperation: dirac structures

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Overall System Architecture

Bilateral teleoperation [C. Secchi-2003] Dual-user teleoperation: dirac structures

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SLIDE 9

Overall System Architecture

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Adaptive Authority Adjustment (AAA)

Adaptive Authority Adjustment (AAA)

Adaptive Virtual Boundary Virtual Boundary Force Adaptive Control Authority

Position

1

Red: Adaptive Virtual Boundary Black: trajectory of trainee Blue: trajectory of trainee Trainer Control Authority

Overrule Function

α =

  • αa ,
  • verrule = False

αo ,

  • verrule = True

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SLIDE 11

Adaptive Authority Adjustment (AAA)

Adaptive Authority Adjustment (AAA)

Adaptive Virtual Boundary Virtual Boundary Force Adaptive Control Authority

Position

1

Red: Adaptive Virtual Boundary Black: trajectory of trainee Blue: trajectory of trainee Trainer Control Authority

Overrule Function

α =

  • αa ,
  • verrule = False

αo ,

  • verrule = True

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SLIDE 12

Passivity Analysis

Master 1 Master 2 Slave

Communication Channel

? ?

Passivity Propositions [F

. Liu, 2015-MESROB]

Modulated flow sources MSf → passive with bounded energy generation Variation control authority → closed loop switching system passive

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SLIDE 13

Experiment Setup

SIMULINK HAPTIC DEVICE

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Experiment Results: AAA Behavior

10 20 30 40 50 60 70 Time(s) −0.2 0.0 0.2 0.4 0.6 0.8 Joint Angle (rad)

t =13:8s t =18:4s t =22:4s t =37:2s t =43:5s t =54:8s t =59:0s t =50:9s

A B C D E F G H I

Trainer Trainee Slave Wall Target

10 20 30 40 50 60 70 Time(s) 0.0 0.2 0.4 0.6 0.8 1.0 1.2 Alpha

A B C D E F G H I

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Experiment Results: AAA Behavior

Period A (Training Mode): Trainer full authority (overruled)

2 4 6 8 10 12 14 Time(s) −0.2 0.0 0.2 0.4 0.6 0.8 Joint Angle (rad)

t =13:8s

Trainer Trainee Slave Wall Target

2 4 6 8 10 12 14 Time(s) 0.0 0.2 0.4 0.6 0.8 1.0 1.2 Alpha 11 / 16

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Experiment Results: AAA Behavior

Period B (Evaluation Mode): Trainee full authority

14 15 16 17 18 19 Time(s) −0.2 0.0 0.2 0.4 0.6 0.8 Joint Angle (rad)

t =13:8s t =18:4s

Trainer Trainee Slave Wall Target

14 15 16 17 18 19 Time(s) 0.0 0.2 0.4 0.6 0.8 1.0 1.2 Alpha 11 / 16

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Experiment Results: AAA Behavior

Period C (Guidance Mode): Adaptive Authority Adjustment (AAA)

18 19 20 21 22 23 Time(s) −0.2 0.0 0.2 0.4 0.6 0.8 Joint Angle (rad)

t =18:4s t =22:4s

Trainer Trainee Slave Wall Target

18 19 20 21 22 23 Time(s) 0.0 0.2 0.4 0.6 0.8 1.0 1.2 Alpha 11 / 16

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Experiment Results: AAA Behavior

Period G (Wall Contact Case): Adaptive Authority Adjustment (AAA)

50.5 51.0 51.5 52.0 52.5 53.0 53.5 54.0 54.5 55.0 Time(s) −0.2 0.0 0.2 0.4 0.6 0.8 Joint Angle (rad)

t =54:8s t =50:9s

Trainer Trainee Slave Wall Target

50.5 51.0 51.5 52.0 52.5 53.0 53.5 54.0 54.5 55.0 Time(s) 0.0 0.2 0.4 0.6 0.8 1.0 1.2 Alpha 11 / 16

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Experiment Results: AAA Behavior

Period H (Wall Off-contact Case): Adaptive Authority Adjustment (AAA)

54 55 56 57 58 59 Time(s) −0.2 0.0 0.2 0.4 0.6 0.8 Joint Angle (rad)

t =54:8s t =59:0s

Trainer Trainee Slave Wall Target

54 55 56 57 58 59 Time(s) 0.0 0.2 0.4 0.6 0.8 1.0 1.2 Alpha 11 / 16

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Experiment Results: Wall Contact Transparency

Wall Contact Force Tracking

Joint Angle (rad) 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0.0

  • 0.1

Hand/Environment Torque (N*m) 0.5 0.4 0.3 0.2 0.1 0.0

  • 0.1
  • 0.2

5 10 15 20 25 30 5 10 15 20 25 30 Trainer Trainee Slave Wall Trainer Trainee Environment 12 / 16

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Experiment Results: Wall Contact Transparency

Wall Contact Force Tracking

Joint Angle (rad) 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0.0

  • 0.1

Hand/Environment Torque (N*m) 0.5 0.4 0.3 0.2 0.1 0.0

  • 0.1
  • 0.2

5 10 15 20 25 30 5 10 15 20 25 30 Trainer Trainee Slave Wall Trainer Trainee Environment 12 / 16

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Experiment Results: Wall Contact Transparency

Wall Contact Force Tracking

Joint Angle (rad) 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0.0

  • 0.1

Hand/Environment Torque (N*m) 0.5 0.4 0.3 0.2 0.1 0.0

  • 0.1
  • 0.2

5 10 15 20 25 30 5 10 15 20 25 30 Trainer Trainee Slave Wall Trainer Trainee Environment 12 / 16

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Current Works

Constant/Varying time delays: passivity and transparency analysis

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Current Works

Constant/Varying time delays: passivity and transparency analysis

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Current Works

Sampled data system Related works

Continuous-discrete coupling: [S. Stramigioli-2005] Discrete IPC controller: [S. Aoues-2013] Discrete scattering: [S. Stramigioli-2005]

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Future Works and Perspectives

Future Works

3 d.o.f and 3D haptic rending: ROS (Robotic Operating System), CHAI3D End-user feedback: medical doctors

Perspectives

Gesture analysis: evaluation of gesture behaviors Human(trainee)-robot semi-autonomous shared control 3D immersion: integration with virtual reality Extension to multi-masters/multi-slaves system

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Future Works and Perspectives

Future Works

3 d.o.f and 3D haptic rending: ROS (Robotic Operating System), CHAI3D End-user feedback: medical doctors

Perspectives

Gesture analysis: evaluation of gesture behaviors Human(trainee)-robot semi-autonomous shared control 3D immersion: integration with virtual reality Extension to multi-masters/multi-slaves system

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SLIDE 28

The end

Thank you for your attention!

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