A Hybrid Haptic Sensation for Teleoperation of Hydraulic Manipulators
Bibliographic record
Abstract
In this paper, a control scheme is designed for stable haptic teleoperation of hydraulic manipulators. The controller results in a stable position tracking for the hydraulic actuator (slave) in both unconstrained and constrained motions. The force feedback at the haptic (master) side is a combination of two different sensations. For free motion, the haptic device provides a haptic force based on the position error between the displacements of the master and the slave. The force also serves to alert the operator when the slave is ahead or behind in position tracking of the master. Once the slave comes in contact with the environment, the haptic force is augmented by the interaction force. The uniqueness, continuation, and existence of the Filippov solution to this system with the discontinuity surfaces are proven first. The extension of Lyapunov's stability theory to nonsmooth systems is then employed to prove the stability by constructing a Lyapunov function. The effectiveness of the controller is validated via experimental studies. It is shown that while stable, the system performs well in terms of position tracking of the hydraulic actuator and providing a haptic feel to the operator. The measurements required by the controller are supply pressure, actuator's line pressures, interaction force, and displacements of the master and slave.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.001 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".