In several applications involving bilateral telemanipulation, master and slave robots act at different power scales (e.g. telesurgery). The aim of this paper is to embed power scaling into port-Hamiltonian based bilateral telemanipulation schemes. In order to deal with non negligible transmission delays we propose a novel scattering based communication strategy to properly scale the power excha...

In bilateral telemanipulation algorithms based on enforcing time-domain passivity, internal friction in the devices poses an additional energy drain. This can severely decrease the obtainable transparency of these algorithms when high amounts of friction are present in the slave device. Based on a model of the friction, the dissipated energy can be estimated and reclaimed inside the energy bala...

This work presents an advanced dual-handed, mobile telerobotic system developed at the High-Fidelity Telepresence and Teleaction Research Centre, Munich, Germany. To the authors’ best knowledge, it is the first attempt to integrate mobile and multi-robot strategies in one physical and logical framework. In order to exploit human manipulation capabilities, a high fidelity telemanipulation system...

This paper presents a user-centered, model-mediated approach to bilateral telemanipulation under large communication delays. Assuming that the environment is only slowly or infrequently changing, it mitigates user perception difficulties and allows stable motion and force interactions with the remote environment. Rather than directly sending slave sensory data to the user, the method abstracts ...

Telemanipulation concerns manual operation of a device from a remote location through suitable communication links. In haptics, the communication link is two-way with force feedback from the manipulated object to the human operator. This paper presents a new application of telemanipulation, as used in homecare robotics. For the specific application, a telemanipulation scheme with impedance cont...

This paper presents a control methodology that provides transparency and stability robustness in bilateral telemanipulation systems that include a significant time delay in the communication channels. The method utilizes an adaptive Smith predictor to compensate for the time delay, and incorporates a previously published loop shaping approach to design a compensator for transparency and stabili...

Andrea Bajo successfully defended his Ph.D. dissertation on 3/15/2013. His dissertation titled " Control, Sensing, and Telemanipulation of Surgical Continuum Robots" presents contributions in the areas of contact detection and estimation of contact location for continuum robots, hybrid force/motion control for continuum robots, and constrained telemanipulation of continuum robots. Algorithms de...