The goal of this project is to make the vehicle teleoperation (remote driving) accessible to all users, novices and experts alike. To achieve this, Carnegie Mellon University (CMU) and the Swiss Federal Institute of Technology at Lausanne (EPFL) are collaborating to investigate advanced teleoperation operator interfaces. Under this joint research effort, a new system model for teleoperation, We...

Surgical teleoperation systems are being increasingly deployed. There are, however, remaining issues such as nonlinear characteristics of the interaction between the slave robot and soft tissues, and difficulty in employing force sensors in the surgical end-effectors of the slave. These issues make it difficult to offer a general approach to designing the overall control structure. This paper a...

Overlaying classical teleoperation control schemes based on a bilateral master–slave coupling, a teleoperation architecture designed in a general teleworking context is proposed. In this scheme, the executing machine is perceptually and functionally hidden to the operator by means of an intermediate functional representation between a real remote world and man. As any executing machine, and mor...

This paper presents the use of haptic devices in teleoperation systems with motion restrictions during robot teleoperation in order to provide the operator with increased awareness and better feeling of immersion, hence, improving his ability to perform complex tasks. The use of wave variables in the proposed system renders passive the communication channel, and moreover the new packet switched...

In this paper we analyze the transparency of the generalized scattering transformation applied to teleoperation systems with constant time delay. Particularly, the human operator, the remote environment, and the robot manipulators are modeled as dissipative instead of just passive systems. By the application of this transformation delay-independent stability is guaranteed. It is shown that tran...

This paper describes the design and implementation of an experimental teleoperation setup with adjustable inherent properties for both the master and the slave interface. With this setup certain aspects of biological inspired teleoperation can be explored. The system consists of two identical 1 degree of freedom devices with structural stiffness adjustable between 0.2 and 100N/mm and a relative...

AN ECOLOGICAL DISPLAY FOR ROBOT TELEOPERATION

In this document, we summarise and analyse existing robotic control and teleoperation architectures included their software implementation. After the introduction where a layered structure is proposed and discussed, we present the requirements expressed by the Clawar community. The architecture overview has been divided in two sections: the first one contains a review of existing control archit...

Haptic devices allow the user to feel the reaction forces and torques that arise when the virtual object attached to the user-manipulated probe touches the other objects in the virtual environment. Additionally, the user may feel some guiding constraints and forces that aid him in the completion of a virtual task. Also, haptic devices are used as master devices in teleoperation tasks and may in...