This paper describes the development of a linear lumped-parameter hand/arm model for the operator of a telemanipulation system. The authors previously developed a control architecture that implements frequency-domain loop-shaping compensators to improve the transparency or ‘‘feel’’ of a telemanipulation system, and a human model is used when simulating this architecture. Typically, the human is...

When a human operator performs a task via a bilateral manipulator, the “feel” of the task is embodied in the mechanical impedance of the manipulator. ’Ikaditiody, a bilateral manipulator is designed for transparency; i.e., so that the impedance reflected through the manipulator closely approximates that of the task. “Impedance shaping bilateral control,” introduced here, differs in that it trea...

This dissertation addresses three related topics in the application of virtual fixtures to bilateral telemanipulation systems. Bilateral telemanipulation is the direct human control of a remote robot, with force and/or tactile feedback, and virtual fixtures are guidance modes, implemented in software, that assist the user in accomplishing a telemanipulated task. The first topic addressed in thi...

We present a telemanipulation system for retinal surgery that uses a full range of unmodified commercially available instruments. The system is compact and light enough that it could reasonably be made head-mounted to passively compensate for head movements. Two mechanisms are presented that enable the system to use commercial actuated instruments, and an instrument adapter enables quick-change...

In a telemanipulation system a human operator controls a remotely located teleoperator by a human system interface. In this work the effects of varied human movement control on task performance and feeling of telepresence by using such systems are analyzed. While it is well known that humans are able to coordinate and integrate multiple degrees of freedom the focus of this work is on how humans...

In several applications involving bilateral telemanipulation, master and slave robots act at different power scales (e.g. telesurgery, micromanipulation). Scaling forces and velocities means scaling the power that is exchanged between master and slave sides through the communication channel. In this paper we show how it is possible to embed power scaling in the scattering based communication ch...

In this work we study the position and velocity signal reconstructions using predictive coding when packets are lost during telemanipulation sessions and classify the high-level haptic artifacts perceived by the users. The usage of packet-switched networks for bilateral telemanipulation systems is challenging due to several adversities such as low transmission rates, packet delays, jitter and l...