[2605.16389] Haptic Rendering of Fractional-Order Viscoelasticity: Passivity and Rendering Fidelity
[Submitted on 11 May 2026]
Title:Haptic Rendering of Fractional-Order Viscoelasticity: Passivity and Rendering Fidelity
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Abstract:Haptic rendering of viscoelastic materials that exhibit creep and stress relaxation is crucial for many applications, such as medical training with realistic biological tissue models. Fractional-order viscoelastic models provide an effective means of describing intrinsically time-dependent dynamics with few parameters, as these models can naturally capture memory effects. In this study, we present analyses of passivity and rendering performance for fractional-order viscoelastic models under finite-memory discretization. We derive closed-form expressions to ensure the passivity of haptic rendering with a fractional-order (FO) standard linear solid (SLS) model based on Grunwald-Letnikov derivative under short-memory discretization. We also provide symbolic expressions for the effective stiffness and damping of such FO-SLS models. The resulting passivity conditions constitute a unified framework that generalizes previously reported results for integer-order Kelvin-Voigt, Maxwell, and SLS models, since these results are special cases of the newly derived condition. Furthermore, we provide experimental validations of the theoretical passivity bounds and human-subject evaluations of perceived realism of FO-SLS models. Overall, this study establishes a unified theoretical framework and experimental evaluations for FO viscoelastic rendering under short-memory discretization.
Comments: Under review for publication in IEEE Transactions on Robotics
Subjects:
Robotics (cs.RO); Artificial Intelligence (cs.AI); Systems and Control (eess.SY)
Cite as: arXiv:2605.16389 [cs.RO]
(or arXiv:2605.16389v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.16389
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Volkan Patoglu [view email] [v1] Mon, 11 May 2026 18:16:45 UTC (5,427 KB)
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