This paper describes a work in progress relating to the development of a virtual monitoring environment for space telemanipulation systems. The focus is on the improvement of performance and safety of current control systems by using the potential offered by virtualized reality, as well as good human factors practices.

This paper presents the analytical and experimental results on a new haptic telemanipulation environment for microrobot control. The proposed environment is comprised of a 5DOF force feedback mechanism, acting as the master, and a 2DOF microrobot, acting as the slave. The fact that the slave microrobot is driven by two centripetal force vibration micromotors makes the presented telemanipulation...

The advent of the World Wide Web presents an opportunity for a wide audience to make use of telemanipulation. Unfortunately, current efforts in Web-based telemanipulation are primarily undertaken by individual groups and lead to a plethora of specific solutions, instead of a general, reusable framework. Because of this, any groups seeking to enter into this field must spend a large amount of ti...

A forbidden-region virtual fixture (FRVF) is a computer-generated constraint that displays position or force limitations to a robot manipulator or operator, in order to prevent motion into forbidden regions of the workspace. We compare nine FRVFs on each of four common telemanipulator control architectures: position forward, position exchange, position forward/force feedback, and position excha...

Literal teleoperation doesn't work very well. Limited bandwidth, long latencies, non-anthropomorphic map-pings all make the eeort of teleoperation tedious at best and ineeective at worst. Instead, users of teleoperated and semi-autonomous systems want their robots to \just do it for them", without sacriicing the operator's intent. Our goal is to maximize human strategic control in teleoperator ...

In this paper, we study the interconnection of two robots, which are modeled as port-controlled Hamiltonian systems through a transmission line with time delay. There will be no analysis of the time delay, but its presence justifies the use of scattering variables to preserve passivity. The contributions of the paper are twofold: first, a geometrical, multidimensional, power-consistent expositi...