Bilateral Teleoperation: Towards Fine Manipulation with Large Time Delay

Abstract

Abstract:To conduct tasks that need high dexterity by teleoperation, a unified hand/arm master-slave system was developed. To measure the dexterity of individual teleoperation systems all over the world in equal condition, we propose toy block assembling (LEGO TM ) as the benchmark test for teleoperation systems. Meanwhile, a bilateral teleoperation experiment with ETS-VII (Engineering Test Satellite No.7) was conducted on November 22, 1999. Round-trip time for communication between the NASDA ground station and ETS-VII was approximately six seconds. These two results are the first step to improve the dexterity of teleoperation systems and to investigate the relationship between time delay and dexterity.

Asymptotic stability of teleoperators with variable time-delays

“…However, the approach of Yokokohji et al [26] requires to inject 2T l T r K l K r times more damping (their scheme is potentially more likely to observe over-damped behaviors), compared to the approach proposed in the present work. Moreover, the presented condition (8) The interaction with the PHANToM is done using the educational Sensable OpenHaptics TM toolkit.…”

“…Remark 2: Yokokohji et al [26] derived the stability conditions, using Llewellyn's linear stability criterion, for a linear 1-DOF teleoperator of the form…”

A novel control architecture for physiological tremor compensation in teleoperated systems

“…The left side of Equation (18) indicates the energy supplied to the system and the right side terms show stored and dissipated energy, respectively. In other words, Equation (18) specifies that the maximum extractable energy from the system is bounded, i.e. (25):…”

A co-design approach for bilateral teleoperation over hybrid network

“…Despite interesting features, bilateral teleoperation has limitations and performance dependencies over several factors. The number of tasks they can perform as compared to human are also limited, since the dexterity of teleoperators is poorer than the human dexterity [3]. This even worsens and sometimes destabilize with the added time delays.…”