Bilateral Teleoperation: Towards Fine Manipulation with Large Time Delay
نویسندگان
چکیده
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) 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.
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