Stability analysis of haptic shared control and its application on a mobile assistive robot

Haptic shared control (HSC) has been widely used in human-robot interaction systems, such as car driving and assistive robots. However, the stability analysis of HSC is not well investigated in current literature, especially for the nonlinear systems. In this paper, the stability of HSC for nonlinear systems is analyzed based on the set theory and convex analysis. The authority weight calculation and haptic rendering algorithm of HSC are developed based on the stability analysis. Then, we apply these algorithms to our assistive robot system. Experimental results show the stable operation of the assistive robot and the effectiveness of the haptic rendering algorithm.