Model-mediated teleoperation with improved stability

Song, Jingzhou; Ding, Yan; Shang, Zhihao; Liang, Ji

doi:10.1177/1729881418761136

Cited by 11 publications

(5 citation statements)

References 47 publications

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“…Figs. 10 and 11 are the results of a previous MMT with the force-based model update algorithm (FMU) [37]. The algorithm limits the change rate of the force rendered to the master.…”

Section: Methodsmentioning

confidence: 99%

“…Velocity of the proxy is limited to make the master force change gradually without abrupt jump. Song et al propose a method limiting the force magnitude that can change during one sample time [37]. These methods, however, have differences between the forces rendered to the operator and the applied to objects in the environment, which can degrade task performance in control of force and discrimination of stiffness.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Model-Mediated Teleoperation for Tasks Interacting With Uncertain Environment

Kim

Lee²

2021

IEEE Access

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Model-mediated teleoperation (MMT) employs an environment model at the master side to compute feedback output to the master at a faster rate. This approach improves system stability in the presence of time delay. MMT, however, does not generally perform well if the employed model is not accurate. Model mismatch is unavoidable when the environment is unknown in advance or varies. This paper proposes MMT employing an adaptive model. The proposed method adaptively moves the reference point of the employed model, whereas the previous MMTs used reference points fixed to the surface of objects in the environment. This can make system stability independent of the time delay. Experiments show that the proposed method improves stability compared to the previous MMTs when there are model mismatches. User studies are conducted to compare the operator's performance in two tasks, control of force exerted to objects in the environment, and discrimination of object stiffness. The result shows that the error in the forces applied to objects in the environment significantly decreases in the proposed method. Errors in forces rendered to the master are also improved by at least 20.2 %. The experiment result also shows that subjects can discriminate up to 40.9 % smaller differences in the stiffness than the previous MMT under the same time delay.

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“…Figs. 10 and 11 are the results of a previous MMT with the force-based model update algorithm (FMU) [37]. The algorithm limits the change rate of the force rendered to the master.…”

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive Model-Mediated Teleoperation for Tasks Interacting With Uncertain Environment

Kim

Lee²

2021

IEEE Access

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“…Master-slave handling device for manipulation of radioactive objects without exposing the operators, remote control of unmanned spacecraft, underwater robotic vehicles, and unmanned aerial vehicles (UAV) are typical examples of teleoperation level HRI systems 4 . Mediated teleoperation level: This level of autonomy was proposed to improve the teleoperation system's stability and transparency 74 . Virtual reality mediated teleoperation 75 and robot mediated healthcare for infectious diseases 76 are typical examples of mediated teleoperation level.…”

Section: Autonomy Level Taxonomymentioning

confidence: 99%

Human-Robot Interaction: A state of the art review

Yadeta,

Bedane,

Chemma

2023

JAIMLD

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Due to the increasing impact of robots in our daily lives, Human robot interaction (HRI) is growing rapidly in various domains such as healthcare, military, industry, entertainment, service, agriculture, urban search and rescue, education, space exploration, and others. As a result, studying the status, trends, raising challenges, and future works of the HRI system is crucial. Many studies have been conducted on the state of the art of HRI systems, with hundreds of papers published each year on this issue. In this paper, after reviewing many research papers, we present application-based taxonomy, nature of robots, interaction between human(s) and robot(s), space/time taxonomy, and autonomy levels in HRI systems, as well as application of Artificial intelligence (AI) for HRI to provide an overview of the state-of-the-art. Finally, we develop four research opportunities based on the identified research gaps and challenges.

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“…In [183], the authors proposed a control design to minimize model jumping based on an adaptive impedance controller and novel model updating algorithm. The adaptive impedance controller was deployed on the slave-side to estimate physical environment parameters with the ability to adjust its behavior without state transition; and a force-based updating local controller was employed on the master-side to update stiffness.…”

Section: ) Model-mediated Teleoperationmentioning

confidence: 99%

QoS Provisioning: Key Drivers and Enablers Toward the Tactile Internet in Beyond 5G Era

et al. 2022

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The Tactile Internet has become a revolution for Internet technology, greatly improving the transmission of skill sets (audio, video, text, and haptics) over communication channels compared with traditional triple-play data (audio, video, text). It is a strong candidate to support next-generation delay-sensitive and loss-intolerant smart applications. However, stringent requirements for the Tactile Internet, including ultra-low latency, ultra-high reliability, high availability, and ultra-security, present critical challenges to ensure Quality of Service (QoS). Consequently, several approaches have been proposed to meet these QoS requirements. This article reviews QoS provisioning approaches for the Tactile Internet. First, we present key concepts for the fifth-generation and beyond technologies, Tactile Internet, and haptic communication. Second, we discuss the Tactile Internet use cases along with strict QoS requirements. Third, we classify existing solutions, including haptic codecs, control system designs, hybrid schemes, and intelligent prediction models; provide in-depth discussion regarding these approaches to improve QoS for the Tactile Internet applications; and investigate strengths and weaknesses for each proposed solution. Finally, we present open research challenges and discuss potential future research avenues to realize the Tactile Internet services.

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Model-mediated teleoperation with improved stability

Cited by 11 publications

References 47 publications

Adaptive Model-Mediated Teleoperation for Tasks Interacting With Uncertain Environment

Adaptive Model-Mediated Teleoperation for Tasks Interacting With Uncertain Environment

Human-Robot Interaction: A state of the art review

QoS Provisioning: Key Drivers and Enablers Toward the Tactile Internet in Beyond 5G Era

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