待翻譯：Koopman Representation of Nonlinear Virtual Environments in Kinesthetic Haptic Systems

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--> [Submitted on 11 Aug 2026] Title:Koopman Representation of Nonlinear Virtual Environments in Kinesthetic Haptic Systems View a PDF of the paper titled Koopman Representation of Nonlinear Virtual Environments in Kinesthetic Haptic Systems, by Yanting Zhou and 2 other authors View PDF HTML (experimental) Abstract:Rendering haptic feedback with nonlinear virtual environments (VEs) is important in many applications that require highly accurate force feedback. This paper considers the use of the Koopman operator to represent a nonlinear VE interacting with a haptic system. Simulation and experimental results demonstrated that the proposed method provides an effective representation of the nonlinear dynamics of a Duffing-oscillator VE. A multi-user study further confirmed this conclusion. In addition, a closed-loop (CL) stability analysis is performed leveraging the Koopman representation of the nonlinear VE to access stability of the overall haptic system. This alternative way of representing nonlinear VEs enables a convenient CL stability analysis that is less conservative than traditional passivity-based methods. Since a linear combination of all lifted states is used to represent the nonlinearity, such representation is also more robust to uncertainties in the modeling of the haptic device than a traditional nonlinear model. Subjects: Robotics (cs.RO) Cite as: arXiv:2608.11461 [cs.RO] (or arXiv:2608.11461v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.11461 arXiv-issued DOI via DataCite (pending registration) Submission history From: Yanting Zhou [view email] [v1] Tue, 11 Aug 2026 21:55:37 UTC (1,096 KB) Full-text links: Access Paper: View a PDF of the paper titled Koopman Representation of Nonlinear Virtual Environments in Kinesthetic Haptic Systems, by Yanting Zhou and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)