Passivity analysis and design of a haptic interface

The haptic interface provides the virtual environment for the remote servo manipulator, and it can make the operator feel and manipulate the remote or virtual environment. For arbitrary passive operator (human), the stability not only relates to the parameters of the haptic device and the virtual environment, but also relates to the type of the sampling signal of the system. The passivity conditions for haptic interface systems with position sampling are given in existing works, but the parameters scope for passivity design is very small. In view of this, velocity of the haptic device is used for the sampling signal in this paper, and a wider passive region is derived based on the frequency response of a sampled-data control system. At last, through overall consideration of the bandwidth, damping ratio and passivity requirements, a reasonable design result is given in the paper.