Stable contact teaching: managing energy in bilateral control
Building on Prof. Jee-Hwan Ryu’s time-domain passivity research, we explore what keeps demonstrations stable through hard contact and communication delays.
Good demonstrations begin with stability.
Before an operator can feel contact and correct a motion, the force-feedback loop must be stable. We examine energy flow under communication delay, sampling, and contact with stiff environments.
The detailed article explains passivity observation and control, the design tradeoff between stability and transparency, and validation criteria for acquisition frameworks.
RESTRICTED ACCESS
A closer look, by invitation.
Detailed research is available with an access code. If you don’t have one, you can request access.