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 iden- tify, through a set of psychophysical experiments, a variable force scaling matrix that improves the oper- ator’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 pro- posed in the paper.
Perception-centric Force Scaling in Bilateral Teleoperation / D., Botturi; M., Vicentini; M., Righele; Secchi, Cristian. - In: MECHATRONICS. - ISSN 0957-4158. - STAMPA. - 20:(2010), pp. 802-811. [10.1016/j.mechatronics.2010.06.005]
Perception-centric Force Scaling in Bilateral Teleoperation
SECCHI, Cristian
2010
Abstract
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 iden- tify, through a set of psychophysical experiments, a variable force scaling matrix that improves the oper- ator’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 pro- posed in the paper.
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