Muscle force model with constant degree of nervousness was proposed, in the context of modeling the operator system and operation delay of the internet-based teleoperation system. The dynamic model of the operator’s arm–joystick with force reflection was obtained. Dynamic compensation of muscle force driving system was given and verified by teleoperation experiments of a mobile robot through in...

We have developed a new teleoperation system model called collaborative control. With this model, the robot asks the human questions, to obtain assistance with cognition and perception during task execution. This enables the human to support the robot and to compensate for inadequacies in autonomy. In the following, we review the system models conventionally used in teleoperation, describe coll...

Stability of a bilateral teleoperation system may be jeopardized by controller discretization, which has been shown to involve energy leaks. This paper proposes a novel approach to analyzing the absolute stability of sampled-data bilateral teleoperation systems consisting of discrete-time controllers and continuous-time master, slave, operator, and environment. The proposed stability analysis p...

In this paper we summarize some of our research efforts in the area of high performance simulation to support advanced teleoperation. Simulation of rigid bodies has always been used in conjunction of teleoperation system, however simulation of deformable bodies is not available yet, since it presents a new set of challenges. In particular, we address the problems related to object modeling to a...

In this paper, the problem of external sensors within bilateral teleoperation is addressed. We propose a Phase Locked Loop (PLL) αβ-tracker that presents an enhanced approach for position and velocity estimation. The proposed approach offers some advantages over the method presented in our previous research that was introduced to enable pseudo-sensorless teleoperation. Such approach applies PML...

The Internet is a very fast evolving new technology, allowing people to electronically connect to places that are thousands of miles apart. By combining network technologies with the capabilities of mobile robots and manipulators, Internet users can discover and physically interact with far-away places thereby, creating opportunities of resource sharing, remote experimentation and long-distance...

Space teleoperation means an extension of human operator’s intelligence to the remote telerobot in the space, and has been widely applied in space exploration and service. The main difficulty in teleoperation is the large stochastic time delay between operator and telerobot. Previous works on space teleoperation mainly focus on the control design, and some researches also give good solutions to...

This paper describes the haptic rendering of a virtual environment by drawing upon concepts developed in the area of teleoperation. A four-channel teleoperation architecure is shown to be an e ective means of coordinating the control of a new 3-DOF haptic interface with the simulation of a virtual dynamic environment.