提出最优耗散优先分配法，提升力反馈设备透明度与稳定性。
Optimal Prioritized Dissipation and Closed-Form Damping Limitation under Actuator Constraints for Haptic Interfaces
- 按最优方向优先耗散，降低执行器负载
- 多余耗散分配至正交平面，实现闭环解析解
- 适用于多自由度、非对称场景，实测验证有效
在力反馈交互中，保证系统稳定性至关重要。当前主流方法为时域无源性分析（TDPA），但其保守性导致透明度显著下降，且稳定作用可能与执行器物理限制冲突。现有方案虽尝试处理执行器约束，仍无法同时考虑各执行器功率限制并最大化透明度。本文提出一种基于优先耗散的新型阻尼限制方法：优先选择最小化执行器负载的最优耗散方向，多余耗散则分配至正交超平面。该方法提供闭式解，在多自由度场景下具备鲁棒性，即使存在执行器与运动各向异性亦适用。实验使用并联力反馈装置与虚拟环境交互，在多种工况下验证了有效性。
原文摘要 · Abstract (English)
In haptics, guaranteeing stability is essential to ensure safe interaction with remote or virtual environments. One of the most relevant methods at the state-of-the-art is the Time Domain Passivity Approach (TDPA). However, its high conservatism leads to a significant degradation of transparency. Moreover, the stabilizing action may conflict with the device's physical limitations. State-of-the-art solutions have attempted to address these actuator limits, but they still fail to account simultaneously for the power limits of each actuator while maximizing transparency. This work proposes a new damping limitation method based on prioritized dissipation actions. It prioritizes an optimal dissipation direction that minimizes actuator load, while any excess dissipation is allocated to the orthogonal hyperplane. The solution provides a closed-form formulation and is robust in multi-DoF scenarios, even in the presence of actuator and motion anisotropies. The method is experimentally validated using a parallel haptic interface interacting with a virtual environment and tested under different operating conditions.
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