The employment of haptic devices in teleoperation systems and the use of motion restrictions during robot teleoperation provide the operator with increased awareness and can considerably improve the feeling of immersion and moreover his ability to perform complex tasks. In the last decade Internet has become one of the major sources of information. It already connects millions of computers and ...

In master slave teleoperation schemes operated by humans, the interface with which the user interacts plays a key role. In this work an interface based on inertial sensors with applications for unilateral master slave robotic teleoperation is developed. The interface is composed of two portable inertial sensor units which are placed on the upper and lower arm to obtain acceleration and turning ...

The purpose of this study is to evaluate a construction robot master-slave teleoperation system with video cameras and force feedback based on behavioral and subjective measures. The system can provide an operator with a realistic force feeling according to the actuator condition using the velocity-driving force characteristics. The teleoperation system comprises two joysticks on the master sid...

—In unconstrained environments, teleoperation exists in consumer-level robots. Motion capture technology has been shown to shrink the skill gap between end user and of robots, however, equipment is getting more expensive complex such as with motion suits. This paper provides a vision-based method camera reduce costs make accessible for consumers. The hand coordinates received from are estimated...

There are two significant goals in teleoperation systems: Stability and performance. This paper introduces an LMI-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. The uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. The time delay in communicatio...

The primary goal of the research proposed here is to develop a control scheme for passive haptic devices used as a master device during teleoperation. Haptic, or force-feedback devices can be divided into two groups based on the energetic nature of their actuators, either passive or active. The research here studies the passive devices, more specifically dissipative passive devices that use bra...

Among the prevalent methods in linear bilateral teleoperation systems with communication channel time delays is to employ position and velocity signals in the control scheme. Utilizing force signals in such controllers significantly improves performance and reduces tracking error. However, measuring force signals in such cases, is one of the major difficulties. In this paper, a control scheme w...

Teleoperation systems have been developed in order to manipulate objects in environments where the presence of humans is impossible, dangerous or less effective. One of the most attractive applications is micro telemanipulation with micropositioning actuators. Due to the sensitivity of this operation, task performance should be accurately considered. The presence of force signals in the control...

|A new approach to the design of teleoperation systems is presented. It is proposed that the teleoperation slave be a coarsene manipulator with a ne-motion wrist identical to the teleoperation master. By using a combination of position and rate control, such a system would require only small operator hand motions but would provide low mechanical impedance, high motion resolution and force feedb...