It is much useful of the unstructured environment which the objects in it are unfamiliar to use human-robot interaction in remote teleoperation of robot manipulator. Traditionally, contacting mechanical devices under the interactive method can restrict the operator’s motion. While camera-based tracking has the benefit of being non-contacting, previous vision-based approaches have used only few ...

ASpace applications of telerobots are characterized by significant communication delays between operator commands and resulting robot actions at a remote site. A high degree of telepresence is also desired to enable operators to safely conduct teleoperation tasks. This paper provides tools for quantifying teleoperation system performance and stability when communication delays are present. A ge...

A teleoperation system has been developed that enables two human operators to safely control two collaborative mobile robots in unknown and dynamic environments from any two PCs connected to the Internet by installing developed client program on them and by using simple force feedback joysticks. On the graphical user interfaces, the operators receive images forwarded by the cameras mounted on t...

This thesis deals with the teleoperation of a ground vehicle, specifically the construction processes associated with actuating the vehicle and the computer systems necessary for its control. The primary objectives of this thesis are to present the successes and failures of developing a ground vehicle platform to be used for teleoperation, to outline the computer architecture needed for wireles...

This paper presents a novel criterion to study the stability of multilateral teleoperation systems based on passivity. Such systems (modelled as n -port networks) have recently found interesting applications in cooperative haptic teleoperation and haptic-assisted training. The criterion provides researchers with an analytical, closed-form, necessary and sufficient condition useful for both anal...

In this paper we present a novel technique to force feedback in robot-assisted surgery. It consists of substituting haptic force, composed by kinesthetic and cutaneous components, with cutaneous stimuli only. The force generated can be thus thought as a subtraction between the complete haptic interaction, cutaneous and kinesthetic, and the kinesthetic part of it. For this reason, we refer to th...

This paper proposes a new impedance controller that is to be applied to bilateral teleoperation under a time delay. The controller has a variable damping designed to achieve a good tacking performance and contact stability concurrently. The damping of the slave impedance is modulated based on the distance between the slave and its environment. The stability of the teleoperation system including...

This chapter presents an intuitive laser-based teleoperation scheme to enable the safe operation of a multirotor UAV by an untrained user in a cluttered environment using a haptic joystick. An obstacle avoidance strategy is designed and implemented to autonomously modify the position setpoint of the UAV if necessary. This scheme includes a novel force-feedback algorithm to enable the user to fe...

The current study assessed the utility of measures of situation awareness (SA) and attention allocation for objectively describing telepresence. The concepts of SA and attention have been identified as cognitive constructs potentially underlying telepresence experiences. The motivation for this research was to establish an objective measure of telepresence and to further investigate the relatio...

Modern robotic research has presented the opportunity for enhanced teleoperative systems. Teleprogramming has been developed for teleoperation in time-delayed environments, but can also lead to increased productivity in non-delayed teleoperation. Powered tools are used to increase the abilities of the remote manipulator. However, tools add to the complexity of the system, both in terms of contr...