{"ID":2854542,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.14511","arxiv_id":"2510.14511","title":"Stability Criteria and Motor Performance in Delayed Haptic Dyadic Interactions Mediated by Robots","abstract":"This paper establishes analytical stability criteria for robot-mediated human-human (dyadic) interaction systems, focusing on haptic communication under network-induced time delays. Through frequency-domain analysis supported by numerical simulations, we identify both delay-independent and delay-dependent stability criteria. The delay-independent criterion guarantees stability irrespective of the delay, whereas the delay-dependent criterion is characterised by a maximum tolerable delay before instability occurs. The criteria demonstrate dependence on controller and robot dynamic parameters, where increasing stiffness reduces the maximum tolerable delay in a non-linear manner, thereby heightening system vulnerability. The proposed criteria can be generalised to a wide range of robot-mediated interactions and serve as design guidelines for stable remote dyadic systems. Experiments with robots performing human-like movements further illustrate the correlation between stability and motor performance. The findings of this paper suggest the prerequisites for effective delay-compensation strategies.","short_abstract":"This paper establishes analytical stability criteria for robot-mediated human-human (dyadic) interaction systems, focusing on haptic communication under network-induced time delays. Through frequency-domain analysis supported by numerical simulations, we identify both delay-independent and delay-dependent stability cri...","url_abs":"https://arxiv.org/abs/2510.14511","url_pdf":"https://arxiv.org/pdf/2510.14511v2","authors":"[\"Mingtian Du\",\"Suhas Raghavendra Kulkarni\",\"Simone Kager\",\"Domenico Campolo\"]","published":"2025-10-16T09:55:33Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}