We present a novel approach that aims to address both safety and stability of a haptic teleoperation system within a framework of Haptic Shared Autonomy (HSA). We use Control Barrier Functions (CBFs) to generate the control input that follows the user's input as closely as possible while guaranteeing safety. In the context of stability of the human-in-the-loop system, we limit the force feedback perceived by the user via a small $L_2$-gain, which is achieved by limiting the control and the force feedback via a differential constraint. Specifically, with the property of HSA, we propose two pathways to design the control and the force feedback: Sequential Control Force (SCF) and Joint Control Force (JCF). Both designs can achieve safety and stability but with different responses to the user's commands. We conducted experimental simulations to evaluate and investigate the properties of the designed methods. We also tested the proposed method on a physical quadrotor UAV and a haptic interface.

翻译：我们提出了一种新方法，旨在触觉共享自主（HSA）框架内同时解决触觉遥操作系统的安全性与稳定性问题。我们利用控制障碍函数（CBFs）生成尽可能贴近用户输入、同时保证安全性的控制输入。针对人在回路系统的稳定性，我们通过一个较小的$L_2$-增益来限制用户感知的力反馈，该增益通过微分约束对控制与力反馈进行限制来实现。具体而言，基于HSA的特性，我们提出了两种控制与力反馈设计路径：顺序控制力（SCF）与联合控制力（JCF）。两种设计均可实现安全性与稳定性，但对用户命令的响应方式不同。我们通过实验仿真对所设计方法进行性能评估与特性探究，并在实物四旋翼无人机与触觉接口上测试了所提方法。