In haptics, guaranteeing stability is essential to ensure safe interaction with remote or virtual environments. One of the most relevant methods at the state-of-the-art is the Time Domain Passivity Approach (TDPA). However, its high conservatism leads to a significant degradation of transparency. Moreover, the stabilizing action may conflict with the device's physical limitations. State-of-the-art solutions have attempted to address these actuator limits, but they still fail to account simultaneously for the power limits of each actuator while maximizing transparency. This work proposes a new damping limitation method based on prioritized dissipation actions. It prioritizes an optimal dissipation direction that minimizes actuator load, while any excess dissipation is allocated to the orthogonal hyperplane. The solution provides a closed-form formulation and is robust in multi-DoF scenarios, even in the presence of actuator and motion anisotropies. The method is experimentally validated using a parallel haptic interface interacting with a virtual environment and tested under different operating conditions.

翻译：在触觉学中，保证稳定性对于确保与远程或虚拟环境的安全交互至关重要。当前最相关的方法之一是时域无源方法（TDPA）。然而，其高度保守性导致透明度的显著降低。此外，稳定化动作可能与设备的物理限制相冲突。现有技术试图解决这些执行器限制问题，但仍未能同时考虑每个执行器的功率极限并最大化透明度。本文提出了一种基于优先级耗散动作的新型阻尼限制方法。该方法优先选择最优耗散方向以最小化执行器负载，同时将任何多余耗散分配到正交超平面。该解决方案提供了闭式公式，在多自由度场景中具有鲁棒性，即使在存在执行器和运动各向异性的情况下也适用。该方法通过平行触觉接口与虚拟环境交互的实验验证，并在不同操作条件下进行了测试。