Haptic teleoperation using Impedance Control with Application in Homecare Robotics

This paper presents an approach of teleoperation using impedance control for both master and slave manipulators. The 4-channel architecture with impedance control ensures enhanced transparency by appropriately controlling the dynamic behavior between motion and applied forces in the task space of the manipulators on both sides. Performance of the system is improved by using on-line estimation of stiffness in the unknown environment with which the slave manipulator is in contact. The effectiveness of the proposed control approach is validated using experiments.