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

Abstract--aintaining system stability and accurate position tracking is imperative in networked robotic systems, particularly for haptics-enabled human-robot interaction. Recent literature have 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. 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 and compared the performance with state-of-the-art solutions regarding varying time delays and environmental conditions. The proposed stabilizer is effective for various telerobotic applications requiring precise position synchronization.aintaining Recent literature have 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. We provide the mathematical design synthesis of the stabilizer and the proof of stability.