Abstract
By integrating a model of the remote environment or the human operator into a haptic bilateral teleoperation control architecture, their behavior can be predicted to compensate time delay introduced by a non-ideal communication channel. This results in increased robustness and fidelity of the closed-loop system. In literature, models of the remote environment, the teleoperator dynamics or task-specific operator models are integrated into single-user teleoperation systems. The present paper is the first that explicitly considers dyadic haptic interaction between two operators in the prediction algorithms applied to a multi-user teleoperation system. Our comparative experimental results obtained in a 3 degree-of-freedom teleoperation system show an increased robustness and fidelity of this approach compared to a classic bilateral force-force architecture.
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Feth, D., Peer, A., Buss, M. (2014). Enhancement of Multi-user Teleoperation Systems by Prediction of Dyadic Haptic Interaction. In: Khatib, O., Kumar, V., Sukhatme, G. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 79. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-28572-1_59
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DOI: https://doi.org/10.1007/978-3-642-28572-1_59
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