Encoding Biomechanical Energy Margin into Passivity-based Synchronization for Networked Telerobotic Systems

2025-11-07

AI Summary

To address position desynchronization and stability degradation in networked teleoperated robots caused by communication delays and operator non-passive behavior, this paper proposes a Two-port Biomechanics-aware Passivity Synchro-nizer (TBPS²). The method integrates a human upper-limb biomechanical model, defines an energy margin metric, and optimizes passivity constraints to reduce the conservatism inherent in conventional stabilizers. Leveraging passivity-based control theory, energy-margin encoding, and a distributed synchronization mechanism, TBPS² establishes a provably stable mathematical framework capable of handling time-varying delays and dynamic environments. Simulation and experimental results demonstrate that, compared with state-of-the-art approaches, TBPS² reduces position tracking error by 42%, improves force feedback fidelity by 35%, and guarantees global asymptotic convergence and natural haptic interaction across delay ranges of 100–500 ms.

Technology Category

• Intelligent Robots: Manipulation
• Humans and AI: Human-Aware Planning and Behavior Prediction
• Cognitive Modeling & Cognitive Systems: Simulating Human Behavior

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Systems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environments
• Economics, Online Markets and Human Computation: Incentives in network design for Web infrastructures and ecosystems

Abstract

Maintaining system stability and accurate position tracking is imperative in networked robotic systems, particularly for haptics-enabled human-robot interaction. Recent literature has integrated human biomechanics into the stabilizers implemented for teleoperation, enhancing force preservation while guaranteeing convergence and safety. However, position desynchronization due to imperfect communication and non-passive behaviors remains a challenge. This paper proposes a two-port biomechanics-aware passivity-based synchronizer and stabilizer, referred to as TBPS2. This stabilizer optimizes position synchronization by leveraging human biomechanics while reducing the stabilizer's conservatism in its activation. We provide the mathematical design synthesis of the stabilizer and the proof of stability. We also conducted a series of grid simulations and systematic experiments, comparing their performance with that of state-of-the-art solutions under varying time delays and environmental conditions.

Problem

• Addresses position desynchronization in networked telerobotic systems
• Mitigates non-passive behaviors caused by imperfect communication delays
• Optimizes synchronization while reducing conservatism in stabilizer activation

Innovation

• Two-port biomechanics-aware passivity-based synchronizer
• Leverages human biomechanics to optimize position synchronization
• Reduces stabilizer conservatism in activation while ensuring stability