Passive Position Feedback over Packet-Switching Communication Network with Varying-Delay and Packet-Loss

We propose a novel framework - passive set-position modulation - which enables us to utilize the explicit position feedback over packet-switching communication network (e.g. Internet) with significant varying-delay and packet-loss, while enforcing energetic passivity at the same time. The proposed modulation framework is flexible (i.e. can accommodate varying data update-rate and intermediate data processing such as smoothing/reconstructuring); local and decentralizable (i.e. performance can be locally tuned without consulting other sides over the communication), thus, scalable; and relies only on the position signal, rather than often-inaccurate/noise-contaminated numerical integration/differentiation. We believe that this proposed passive set- position modulation would be useful for varying-rate haptics and bilateral teleoperation over the Internet.