Detection of Discrepancies and Sensory-Based Recovery for Virtual Reality Based Telemanipulation Systems

Teleoperators using an intermediate functional representation of the remote real environment (R E), sufler a lack of its accurate synthetic modeling. Indeed, discrepancies will always occur between the RE and, let’s say, its artificial representation by means of vzrtual environment (VE). A strategy to deal with VE/RE uncertainties based mainly on sensory level interpretation is presented. It is dtrected to avoid use of task knowledge by provid~ng a stream of vtrtual sensors values. Within the remote szte, a supervisor is in charge of recovering from the VE/RE discrepancies by a continuous simulated and real states comparison. The states are derived respectively from simulated and real sensors interpretation. A simple experiment wtth the proposed approach is presented using only position (velocity) and force sensors. Limitations of the proposed approach are also discussed.