Perception-centric force scaling in bilateral teleoperation

✍ Scribed by D. Botturi; M. Vicentini; M. Righele; C. Secchi

• Book ID: 104048032
• Publisher: Elsevier Science
• Year: 2010
• Tongue: English
• Weight: 585 KB
• Volume: 20
• Category: Article
• ISSN: 0957-4158
• DOI: 10.1016/j.mechatronics.2010.06.005

✦ Synopsis

In this work we propose a control architecture that leads to an intrinsically stable bilateral teleoperation system, where the telepresence of the user is improved in terms of remote force discrimination. We identify, through a set of psychophysical experiments, a variable force scaling matrix that improves the operator's feeling of the remote environment. We show that it is possible to build a passive control scheme that embeds this perception-centric scaling. Finally, an experiment is presented to validate the results proposed in the paper.