In this paper a structure will be given which in a remarkably simple way offers a solution to the implementation of different telemanipulation schemes for discrete time varying delays by preserving passivity and allowing the highest transparency possible. This is achieved by splitting the communication channel in two separate ones, one for the energy balance which will ensure passivity and one ...

This paper presents a two-channel architecture and design approach that enables a simultaneous increase in the transparency and stability robustness of a bilateral teleoperation system, and additionally provides a high degree of transparency robustness to uncertainty in the operator and environment dynamics. The former is provided by the use of a loop-shaping filter incorporated on the master-t...

Robotically enhanced telemanipulation surgery is a rapidly developing technique which enables totally endoscopic cardiac surgery with utmost precision and perfection on both beating heart and arrested heart. Between December 2002 and September 2006, 268 patients underwent robotically enhanced coronary artery bypass surgery using the da Vinci telemanipulation system. Fourteen patients underwent ...

– Shared control represents a middle ground between supervisory control and traditional bilateral control in which the remote system can exert control over some aspects of the task while the human operator maintains access to low-level forces and motions. Our telema-nipulation system includes tactile, force and motion sensors that allow the slave to regulate grasp forces and impart rolling moti...

We report an experimental highdelity system for making psychophysical measurements on human operators performing real, virtual, and real-remote 3D haptic manipulation tasks. Operators interact with task environments through six-degree-of-freedom (6-DOF) Lorentz magnetic levitation haptic devices. This arrangement allows the operator to exert and experience real, virtual, and real-remote forces/...

In telemanipulation and 3D virtual interactions it is important to transmit force sensation from the remote or virtual environment to the operator. Due to the weak points (control issues, robustness, cost) of real force feedback devices, methods where force is rendered on non-native sensory channels have grounds. In this paper, a survey of the related literature is presented and the concept of ...