The growing number of robotics application fields, mainly in services, has led to the increase of new needs as well as the development of new facilities for teleoperation. Research in the design of more efficient and easy to use human-machine interfaces has propitiated the development of friendly communication systems such as those based on voice or gesture recognition. This work describes a vi...

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 ...

Haptic feedback offers the potential to increase the quality and capability of human-machine interactions as well as the ability to skillfully manipulate objects by exploiting the sense of touch (Lin & Salisbury, 2004). Previous studies on haptic feedback systems typically dealt with virtual reality (VR)-based simulations, and telemanipulation systems. VR-based simulation systems used haptic in...

In this paper, an extension of the so-called Intrinsic Passive Control (IPC) is illustrated, showing that an improvement of performances can be achieved by considering different types of energy-storing elements, i.e. “springs”, in the IPC. In particular, two new “springs” are introduced: a ‘variable rest length’ spring and a ‘variable stiffness’ spring, that are properly defined in order to mai...

keywords: rtlinux, comedi, sliding mode control, MRAC control

In this paper we present an intrinsically passive telemanipulation scheme over a digital transmission line Internet-like. We present an analysis of the energetic behavior of the communication line both in case of loss of packages and in case of variable delay. The sample data nature of the passive controller is explicitly taken into account following the approach outlined in [9] and [10].