On the enhanced passivity of pneumatically actuated impedance-type haptic interfaces

The stable simulation of high-stiffness surfaces remains a challenge in impedance-type haptic simulations of mechanical environments. In this paper, the authors propose an approach to achieving a stable, high-stiffness surface in a haptic interface by leveraging the open-loop properties of pneumatic actuators. By using the open-loop component of the actuator stiffness as a primary component of stiffness simulation in a haptic interface, the system requires a comparatively small component of simulated stiffness from the closed-loop control of the actuator. A passivity analysis is presented describing how the presence of an open-loop stiffness enhances the range of passivity of haptically simulated high-stiffness surfaces. Experimental results both with and without a human operator are presented that demonstrate the effectiveness of the approach and its enhanced passivity relative to motor-actuated devices.