High-fidelity bilateral teleoperation systems and the effect of multimodal haptics

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
Mahdi TavakoliMehrdad Moallem

Abstract

In master-slave teleoperation applications that deal with a delicate and sensitive environment, it is important to provide haptic feedback of slave/environment interactions to the user's hand as it improves task performance and teleoperation transparency (fidelity), which is the extent of telepresence of the remote environment available to the user through the master-slave system. For haptic teleoperation, in addition to a haptics-capable master interface, often one or more force sensors are also used, which warrant new bilateral control architectures while increasing the cost and the complexity of the teleoperation system. In this paper, we investigate the added benefits of using force sensors that measure hand/master and slave/environment interactions and of utilizing local feedback loops on the teleoperation transparency. We compare the two-channel and the four-channel bilateral control systems in terms of stability and transparency, and study the stability and performance robustness of the four-channel method against nonidealities that arise during bilateral control implementation, which include master-slave communication latency and changes in the environment dynamics. The next issue addressed in the paper deals with the c...Continue Reading

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Citations

May 21, 2009·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Niki Abolhassani, Rajni V Patel
May 9, 2014·IEEE Transactions on Haptics·Ali Jazayeri, Mahdi Tavakoli
Sep 24, 2014·IEEE Transactions on Haptics·Jian LiQi Huang
Aug 10, 2011·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Pyung Hun Chang, Jonghyun Kim
Jan 4, 2013·Neurosurgery·Rachael L'OrsaMahdi Tavakoli
Mar 25, 2018·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Lingbo ChengMahdi Tavakoli
Mar 6, 2019·The Review of Scientific Instruments·Xia LiuXiaohua Zhang

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