通过人体生物力学优化遥操作系统的同步与稳定，提升精度与安全性。
Encoding Biomechanical Energy Margin into Passivity-based Synchronization for Networked Telerobotic Systems
- 引入人体生物力学设计双端口同步控制器，降低控制保守性。
- 在不同通信延迟下实现精准位置同步，验证了系统稳定性。
- 适合研究遥操作、人机交互的工程与算法开发者。
在联网机器人系统中，维持系统稳定性和精确的位置跟踪至关重要，尤其在触觉增强的人机交互场景中。近年来，已有研究将人体生物力学融入遥操作中的稳定器设计，在保障收敛性和安全性的同时提升力觉保真度。然而，通信不完善和非被动行为仍导致位置不同步问题。本文提出一种双端口生物力学感知的无源性同步与稳定器（TBPS2），通过利用人体生物力学特性优化位置同步，同时减少稳定器激活时的保守性。我们给出了该稳定器的数学设计推导及稳定性证明，并通过一系列网格仿真与系统实验，对比了其在不同时间延迟和环境条件下的性能表现，结果优于当前先进方法。
原文摘要 · Abstract (English)
Maintaining system stability and accurate position tracking is imperative in networked robotic systems, particularly for haptics-enabled human-robot interaction. Recent literature has integrated human biomechanics into the stabilizers implemented for teleoperation, enhancing force preservation while guaranteeing convergence and safety. However, position desynchronization due to imperfect communication and non-passive behaviors remains a challenge. This paper proposes a two-port biomechanics-aware passivity-based synchronizer and stabilizer, referred to as TBPS2. This stabilizer optimizes position synchronization by leveraging human biomechanics while reducing the stabilizer's conservatism in its activation. We provide the mathematical design synthesis of the stabilizer and the proof of stability. We also conducted a series of grid simulations and systematic experiments, comparing their performance with that of state-of-the-art solutions under varying time delays and environmental conditions.
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