Stability and transparency in bilateral teleoperation

Lawrence, Dale

doi:10.1109/70.258054

Cited by 1,809 publications

(368 citation statements)

References 17 publications

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“…In coupled master-slave type robotic systems that are used in telerobotic working domain with master being actuated by human operator and slave arm following it, force feedback approaches have been used in several ways [1,2]. The following error-as well as slave velocity-based impedance modification of two port control networks have been used [3,4].…”

Section: Introductionmentioning

confidence: 99%

Physics-based vicinity emulation for enhanced perception in teleoperation

Mukherjee

2015

Pramana - J Phys

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A workspace modelling technique, that achieves real-time detection of closeness of robot to workspace object, has been developed by additional physics attribute attachment to workspace. Physics phenomena suiting the realistic work conditions have been identified and a computational model for emulating the phenomenon has been developed. Need for building sensitivity to dynamics in the model has also been addressed. Model building and algorithms for embedding the model in workspace comprising complex object shapes have been studied in detail. Applications like fast execution in real-time scenarios, design of data structure for realistic implementation and the problem of attaining functionality without new sensor addition to telerobots working in radioactive environment are addressed.

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Section: Introductionmentioning

confidence: 99%

Physics-based vicinity emulation for enhanced perception in teleoperation

Mukherjee

2015

Pramana - J Phys

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“…When operating the tele-robot remotely, the operator not only has to be provided with visual information, but also needs to know the working resistance and the force sensing caused by obstacle interference [1][2][3][4].…”

Section: Introductionmentioning

confidence: 99%

Force Feedback Control of Tele-Operation Based on Electro-Hydraulic Multi-Freedom Manipulator

Gong¹,

Chen²,

Ni³

2017

Proceedings of the 3rd Annual International Conference on Mechanics and Mechanical Engineering (MME 2016)

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Abstract. The paper presents the control strategy to solve the problems that multiple-freedom force and displacement coupling existing in the bilateral servo force-feedback control architecture for tele-operation parallel manipulators. The control strategy transfers the values of the working resistance connected to the slave manipulator and its direction to the master side through the position space, which provides the operator with the constrained space the same as the slave side. The experimental results show that the proposed force-feedback control strategy is effective and markedly improves the manipulability for the master-slave control system.

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“…Another important issue for haptic-based NVEs is transparency, a performance criteria used to quantify the reality of haptic interactions. Transparency is achieved if the humans cannot distinguish between local and remote interactions [21,36]. The human touch sense is more sensitive than other visual and auditory senses.…”

Section: Introductionmentioning

confidence: 99%

Priority-based haptic event filtering for transmission and error control in networked virtual environments

Lee

Kim

2009

Multimedia Systems

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A data filtering scheme is proposed for transmission and error control of haptic events in hapticbased network virtual environments; this scheme is called as priority-based haptic event filtering. Because a high update rate of approximately 1 kHz is required for haptic rendering, sophisticated transmission rate control and reduction schemes are necessary for the haptic events. Although existing schemes can reduce the transmission rate without any perception impairment, they are very sensitive to packet losses. In this paper, we prioritize the haptic events according to the delay and loss effects. Utilizing the proposed haptic event prioritization, the proposed filtering scheme adapts the transmission rate and updates the predicted loss rate according to the current network state. Our simulation and experiment results confirm that the proposed scheme can effectively select important haptic events and guarantee an improved haptic interaction quality over a bandwidth-limited lossy network than existing transmission schemes tailored for networked haptics.

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Stability and transparency in bilateral teleoperation

Cited by 1,809 publications

References 17 publications

Physics-based vicinity emulation for enhanced perception in teleoperation

Physics-based vicinity emulation for enhanced perception in teleoperation

Force Feedback Control of Tele-Operation Based on Electro-Hydraulic Multi-Freedom Manipulator

Priority-based haptic event filtering for transmission and error control in networked virtual environments

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