Toward High-Performance Stable Haptic Teleoperation over the Internet: Passive Set-Position Modulation (PSPM) Approach

This book chapter proposes the recently-developed passive set-position modulation (PSPM) framework as a promising means toward passive, yet, high-performance haptic teleoperation over the Internet with significant varying-delay and data-loss. We first briefly review some representative control techniques in haptics and time-delay teleoperation (i.e. virtual coupling, passivity observer/controller (or PO/PC), scattering/wave, and proportional-derivative (PD) based approaches) to provide better contextuation/justification for the development of PSPM, with a particular emphasis on how to improve performance. We then provide a condensed derivation of the PSPM framework and a summary of key properties of the PSPM framework and the PSPM based Internet haptic teleoperation, along with the complete algorithm of the PSPM and some illustrative experimental results. Some comments on the future research directions are also given.