Design and Implementation of a haptic interface device with Auto-Regulation gravity compensation

Abstract-The transmission of wave variables rather than power variables in time-delay teleoperation system ensures system passivity rendering the entire system stable, however the delayed force feedback will still lead to the unanticipated motion of master, which makes the system difficult to control and unstable. The aim of this work is to propose an force feedback algorithm, which is easy to implement, to depress unanticipated and disturbing motion. This algorithm would not affect passivity of the whole teleoperation system. The simulation experiments show that the teleoperation system with designed algorithm is stable and easy to be operated by human operator.