This paper presents a new type of wearable teleoperation system that is applicable to a humanoid robot control. The proposed wearable teleoperation system consists of a self-contained computing hardware with a stereo HMD, a microphone, a headphone and a wireless LAN, an arm and head motion tracking mechanism using several types of sensors to get the motion data of an operator, and simple force ...

Today, most commercially available UGVs use teleoperation for control. Under teleoperation, users’ hands are occupied holding a handheld controller to operate the UGV, and their attention is focused on what the robot is doing. In this paper, we propose an alternative called Heads-up, Hands-free Operation, which allows an operator to control a UGV using operator following behaviors and a gesture...

In this paper, a teleoperated nano scale object manipulation system is proposed, and requirements of such systems are defined. The system consists of a user interface utilizing visual and haptic displays (macro world), nano-manipulator, controller and sensors (nano world), and teleoperation control and rough to fine imaging and actuation tools (between macro and nano worlds). A home-made Atomic...

This paper proposes a visually based teleoperation with accumulation method and system where the visual and control information sequences are stored and available for syntactically indexed playback. Visually based teleoperation systems heretofore described in the literature unfortunately can only display an instantaneous representation of the control sequence. Past control experience should ins...

This paper concentrates on transparency and synchronization of supermedia in Internet based teleoperation. Supermedia is used to describe the collection of all the feedback streams in teleoperations, such as haptic, video, audio, temperature and others. Transparency and synchronization are introduced and analyzed from the event-based control perspective. The concepts of event-transparency and e...

In this paper we survey the development of the wave variable concept and examine wave-based teleoperation. We study the behavior of force reflecting systems under unknown but constant transmission delays, ranging from periods less than the human reaction time to several seconds. Passive transmission procedures guarantee system stability, but wave reflections and spurious dynamics may interfere ...

584 INTRODUCTION Teleoperation refers to the direct human control of a machine from a distance. It is commonly associated with systems wherein the machine is represented by robotic mechanisms or mobile robots. Such systems are increasingly used on unmanned vehicles to enable a range of applications across a variety of domains including military, first responder, law enforcement, construction, h...

BACKGROUND Secure grasping and effective manipulation of delicate large organs during robotic surgery operations needs especially designed instruments that can enclose a large amount of tissue and feed back the pinch forces. METHODS A large organ triple-jaw grasper was instrumented using practical force sensory and actuating systems. A force tracking scheme was proposed to facilitate auto-gra...

An Internet-based teleoperation system is an interactive application where a human user transmits movement data of a robotic device while simultaneously receiving reflected force data from a remote teleoperator. Performance of such real-time applications is highly sensitive to the Internet delay and data loss. In this paper, we describe the efficient transport protocol (ETP) designed for Intern...

A bstroct— Bilateral teleoperation systems, connected to computer networks such as Internet have to deal with varying communication time delay. And the entire system is easy to become unstable due to irregular time delay. In this paper, we design a sliding-mode controller for the slave and an impedance controller for the master. We propose a modified sliding-mode controller, in which the nonlin...