In bilateral teleoperation of a dexterous task, to take full advantage of the human’s intelligence, experience, and sensory inputs, a possibility is to engage multiple human arms through multiple masters (haptic devices) in controlling a single slave robot with high degrees-of-freedom (DOF); the total DOFs of the masters will be equal to the DOFs of the slave. A multi-master/single-slave cooper...

This paper establishes a novel control strategy for a nonlinear bilateral macro-micro teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the poor transparency during contact with the environment. To eliminate external force measurement, a force estimation algorithm i...

Abstract. This research focuses on developing and testing the highlevel control of a novel eight DOF hybrid robot using a DaVinci master manipulator. The teleoperation control is formulated as weighted, multi objective constrained least square (LS) optimization problems one for the master controller and the other for the slave controller. This allows us to incorporate various virtual fixtures i...

This paper presents the research work on a 1 degree of freedom (DOF) force reflecting tele-micromanipulation system. This system enables a human operator to position remote objects very precisely having haptic feedback. The slave robot is a nano-positioning piezo-actuator with hysteretic dynamics. This intrinsic nonlinearity results in positioning inaccuracy and instability. Hence, a LuGre fric...

Teleoperation is a robotics application where there is a master and a slave system interacting with each other and with the environment. Master system is often a joystick or a duplicate of the slave system that is driven by the operator. Slave system is the robot that is located at a remote site and controlled by the commands sent by the master system. Depending on the information flow, teleope...

In this paper, a master-slave robot system with haptic feedback, human sensing and teleoperation for rehabilitation of upper limb function is presented. The physician could adjust on-line the exercise based on the EMG signal of the patient and force feedback. Moreover, in the present teleoperating system, it is shown that the stability is guaranteed due to the passivity of the master arm’s mech...

In the master-slave heterogeneous teleoperation, workspace of slave manipulator is usually much larger than that master manipulator. This paper proposes a 6-DOF bilateral hybrid teleoperation control strategy to map manipulators without changing operation accuracy. The includes admittance and force based on feedback sensor at end two strategies switched autonomously through positioning Sigma.7 ...

In the standard teleoperator system, force and velocity signals are communicated between a master robot and a slave robot. It is well-known that the system can become unstable when even a small time delay exists in the communication channel. In this paper, a method based on the H 1-optimal control and-synthesis frameworks is introduced to design a controller for the teleoperator which achieves ...

The paper describes a prototype anthropomorphic kinesthetic telepresence system that is being developed at JP1.. It utilizes dexterous terminus devices in form of an exoskeleton force-sensing master glove worn by the operator and a replica four finger anthropomorphic slave hand. The newly developed master glove is integrated with our previously developed non-anthropomorphic six degree-of-freedo...

Purpose – Aims to make an industrial robot work as a telemanipulator with force feedback, in order to carry out various tasks for remote handling in nuclear fuel cycle plants. Design/methodology/approach – The robot STABLI RX170 (used as a slave arm) has been fitted with a force-torque sensor and an electronic system for sensors’ signals multiplexing. The overall system has been made tolerant ...