Evaluation of Rate-Based Force-Reflecting Teleoperation in Free Motion and Contact

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 environment by the slave manipulator during remote teleoperation tasks. In an effectiveness evaluation experiment, the experimental hypothesis is validated: the NTRFC with force reflection performs the best amongst four teleoperation control modes with respect to minimal wrench exertion on the environment. A negligible difference was found in total task completion times amongst the four modes. The NTRFC with force reflection has the potential to improve task performance in remote hazardous teleoperation tasks where minimal exerted wrench is desirable. 1 Assistant Professor 2 Graduate Research Assistant 3 Civilian Researcher