In mobile hydraulic machines, like excavators, backhoe loaders, wheel loaders, and forklift trucks, haptic human-machine interfaces are not in use. Today, the machines are operated with mechanical-hydraulic joysticks. Each joystick axis controls a single hydraulic actuator. This leads to not very easy to use operational concepts. Since electrohydraulic systems with electronic joysticks are avai...

Network protocol designers have always been divided between the adoption of centralized or distributed communication architectures. Despite exhibiting negative aspects like the existence of a single point-of-failure in the master as well as computational overhead and an inefficient handling of the asynchronous communications, Master-Slave protocols have always found their space mainly given the...

This paper proposes a third generation teleoperation system based on a status driven slave symbolically instructed by the master control panel. Furthering the first-generation joint-angle control techniques and second-generation coordinate transformation techniques, this system recognizes the target status specified by the operator by extracting the task status from visual sensors. The task env...

The purpose of this study is to develop a wearable master-slave lower limb training device for a trainer and a trainee. The developed device is constructed with McKibben type rubber artiåcial muscles and an appliance, a torque sensor. In addition, to prevent applying an excessive torque to the trainee, a reaction torque from the trainee can be transmitted to the trainer by a bilateral type mast...

This article presents an adaptive control scheme based on position-force architecture to achieve the stability and transparency for teleoperation in unknown or varying environments. Without any knowledge about the parameters of the slave robot and environment dynamics, the proposed scheme guarantees the robustness to the parameter uncertainties of the master robot as well as the stability of th...

In this article, bilateral teleoperation systems under communication time-delay are analyzed. Necessary and sufficient conditions guarantee the stability of the global system for any communication time-delay are firstly derived. Then, based on these conditions, weighting function on the slave system is obtained. Therefore, the problem of finding a position controller for the slave system which ...

It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is based on a cyclic switching algorithm. In the first phase of the cyclic algorithm, we estimate the en...

We present an electronical analogue circuit modelling a FitzHugh-Nagumo neuron with a modified excitability. To characterize this basic cell, the bifurcation curves between stability with excitation threshold, bistability and oscillations are investigated. An electrical circuit is then proposed to realize an unidirectional coupling between two cells, mimicking an inter-neuron synpatic coupling....

In this paper, a multiphase sliding mode (MPSM) control method with a master–slave structure is proposed and analyzed in order to suppress ripples at input terminals or output terminals in DC/DC converter applications. With the proposed MPSM, the switching frequency of a multiphase DC/DC converter does not need to be operating such a high switching frequency as adopted in a conventional sliding...

A telerobotic platform developed in a collaboration between NASA-JPL and MicroDexterity Systems, Inc (MDS) is described in this paper. The lightweight, compact 6 dof master-slave system is precise to better than 10 microns and can cover a workspace greater than 400 cubic centimeters. Current capabilities of the system include manual position control with augmented shared control modes and autom...