After a Decade of Teleimpedance: A Survey

Abstract

Despite the significant progress made in making robots more intelligent and autonomous, today, teleoperation remains a dominant robot control paradigm for the execution of complex and highly unpredictable tasks. Attempts have been made to make teleoperation systems stable, easy to use, and efficient in terms of physical interactions between the follower remote robot and the environment. In particular, the emergence of torque-controlled robots has permitted to regulate the interaction forces from a distance through direct force or impedance control, enabling them to engage in complex interaction tasks. Exploiting this feature, the concept of teleimpedance control was introduced as an alternative method to bilateral force-reflecting teleoperation. The aim was to create a feed-froward yet contact-efficient teleoperation by enriching the leader commands with desired impedance profiles while executing a task. Since then, the teleimpedance concept has found its way into a wide range of interface and controller designs, as well as application domains. Accordingly, after a decade of research progress, this survey aims to provide: first, a convenient introduction of the concept to new researchers in the field, second, consolidate the existing state-of-the-art for active researchers, third, and discuss the pros and cons of different methods in terms of interface and force feedback to provide guidelines for different applications and future developments.

Dynamic movement primitives in robotics: A tutorial survey

“…Such a paradigm of learning is called Variable Impedance Learning Control (VILC). Interested readers can refer to our recent survey on VILC (Abu-Dakka and Saveriano, 2020) or teleimpedance (Peternel and Ajoudani, 2022).…”

Human Modeling in Physical Human-Robot Interaction: A Brief Survey

“…While pHRI has social aspects [7], [8], our scope is limited to physical interactions. There are several relevant survey papers that examined pHRI in specific application areas, such as rehabilitation [9], ergonomics [10], teleimpedance [11], and human movement analysis and synthesis [12]. These informative surveys, however, had limited connections between pHRI and human modeling.…”