Visually based control, accumulation and assistance systems are presented as an effective environment for teleoperation. We developed the Bilateral Behavior Media (BBM) paradigm and implemented systems which offer a status driven interface, collection of sampled control behavior, and operator assistance. The paradigm emphasizes a human-intuitive visual specification of task completion states wi...

In this article we survey some of the recent work dealing with time delay when found in a teleoperation system. We develop a SIMULINK model for both a single degree of freedom and a multiple degree of freedom bilateral teleoperation system. We will then implement the wave variable method in both systems and compare the simulation results to those when the system is without any delay. We conclud...

Teleoperation systems allow the extension of the human operator’s sensing and manipulative capability into a remote environment to perform tasks at a distance, but the time-delays in the communications affect the stability and transparency of such systems. This work presents a teleoperation framework in which some novel tools, such as nonlinear controllers, relational positioning techniques, ha...

A large number of bilateral teleoperation control architectures in the literature have been designed based on assumed impedance models of the master and slave manipulators. However, hydraulic or heavily geared and many other manipulators cannot be properly described by impedance models. In this paper, a common four-channel bilateral control architecture designed for the above impedance models i...

Stability of a bilateral teleoperation system may be jeopardized by controller discretization, which has been shown to involve energy leaks. This paper proposes a novel approach to analyzing the absolute stability of sampled-data bilateral teleoperation systems consisting of discrete-time controllers and continuous-time master, slave, operator, and environment. The proposed stability analysis p...