The ∞ H synchronization problem of the master and slave structure of a second-order neutral master-slave systems with time-varying delays is presented in this paper. Delaydependent sufficient conditions for the design of a delayed output-feedback control are given by Lyapunov-Krasovskii method in terms of a linear matrix inequality (LMI). A controller, which guarantees ∞ H synchronization of th...

Because of the use of scattering based communication channels, passivity based telemanipulation systems can be subject to a steady state position error between master and slave robots. In this paper, we consider the case in which the passive master and slave sides communicate through a packet switched communication channel (e.g. Internet) and we provide a modification of the slave impedance con...

The purpose of designing a controller for a teleoperation system is achieving stability and high efficiency in presence of factors such as time delay, noise, system disturbance and modeling errors. In this article seven new schemes for teleoperation systems is suggested to reduce the error of tracking between the master and the slave systems. In the first and second structures, optimal control ...

This work is devoted to the remote feedback control of a linear process with "Internet in the loop". In such a networked control situation, variable and unpredictable delays arise, which may decrease the global performance or destabilize the system. Our aim is to obtain the best performance despite the variation of the network QoS (quality of service). The considered application is based on a M...

Despite the benefits of the robotic technologies on rehabilitation, human involvement is still critical. On the aspect of patients, they also need the supervision of the therapist as well as their active guidance and their expertise. In this paper, a novel master-slave rehabilitation system with force feedback and a meaningful training model for recovering the elbow joint function is presented....

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...

Teleoperation has found much application in today’s society. While its benefits make it advantageous in many situations, teleoperation also introduces new challenges. For example, the operator is forced to work with limited sensory feedback such as that from video cameras. Second, the mapping from what the operator inputs at the master manipulandum to what the operator sees the slave robot do c...

User profile capturing plays an important role in service personalization, but is challenging to accomplish in ubiquitous computing environments. This paper proposes a collaborative approach to capture user profile. The approach is based on Master-Slave architecture, of which master side is a device with strong capabilities, such as workstations and PCs, and slave devices are low-cost, low-perf...

In this paper, we present our efforts toward building interactive robots that can learn how to interact naturally with human partners in different environments and contexts. The main feature of our approach is that it relies completely on unsupervised learning and time series analysis techniques that allow the robot to build its own interaction protocol representation from the bottom up. The fi...