The existence of time delay in the communication link is one of the most important problems regarding the stability of teleoperation systems. Time delay is specially relevant in ground teleoperation of robots orbiting Earth, with values of round trip delay ranging from 5 to 10 seconds. Many proposals on how to conduct time delayed teleoperation under various circumstances and for different appl...

In our previous work, several system elements for space teleoperation were introduced: a Singularity Consistent (SC) teleoperation system, a mixed force and motion commands based space teleoperation system, and a 6-DOF haptic interface. In this paper, we introduce an advanced space teleoperation system which includes all the above elements. As a result, the system realizes safety against the si...

Wheel slippage creates control challenges for wheeled mobile robots (WMR). This paper proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage by using the time-domain passivity control (TDPC) approach. We show the potential nonpassivity for the environment termination caused by the slippage dynamics. The utilized TDPC approach maintains the passivity of teleop...

In this paper several interfaces for teleoperation of a mobile robot are described and analyzed. We consider teleoperation of a wheeled mobile robot when control commands are given by human operator through a haptic master device. Described human-robot teleoperation interfaces were tested by performing experiments. Main objective was to verify the role of different types of feedback information...

Teleoperation is now common in high-risk work domains, particularly in surgery with the extensive use of remote, minimally invasive techniques. While this new technology affords a novel means by which to control human action for surgical intervention, interface design often constrains the operator in unorthodox ways, requiring considerable adaptation and raising patient safety concerns. There i...

This research focuses on improved force-reflecting teleoperation system control in free motion and contact tasks. Specifically, the Naturally-Transitioning Rate-to-Force Controller (NTRFC) is implemented in an Air Force experimental force-reflecting teleoperation system to: 1) achieve a unified controller with no mode switches from free motion to contact; and 2) reduce the wrench exerted on the...

This paper presents a QoS based eficiency improving scheme for Intemet-based teleoperation. One of the widely used QoSparameters for showing network status . is network delay. With the help of event-based control technique, the stability of the teleoperation systems is . guaranteed under random network delay. This paper ' imiestigates how to improve the eficiency of teleoperated tasks based on ...

Previous research on teleoperation has focused on manipulation of hard objects. However, the design constraints are different in applications that involve manipulation of deformable objects, such as robotic telesurgery. In this paper a new measure for fidelity in teleoperation is introduced which quantifies the teleoperation system’s ability to transmit changes in the compliance of the environm...

Augmented Reality and Virtual Reality can provide to a Human Operator (HO) a real help to complete complex tasks, such as robot teleoperation and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer and easier with the remote real world. In this paper, we present an extension of an existing distributed software and network architecture for collaborative...

An experiment to tele-operate a robot arm on a satellite from an onground control station was conducted by an astronaut who has extensive on-orbit experience in operating the Space Shuttle’s robotic arm. This experiment aimed to evaluate / compare a teleoperation system, which we developed, with the teleoperation system of the Space Shuttle Remote Manipulator System (SRMS). There was a time del...