A bilateral teleoperation system can become unstable in the presence of a modest time delay. However, the wave variable algorithm provides stable operation for any fixed time delay using passivity arguments. Unfortunately, the wave variable method pr...
Bilateral teleoperation combines the agility of robotic manipulators with the ability to perform complex contact tasks guided by human expertise, thereby fulfilling a pivotal function in environments beyond human access. However, due to the limited w...
This paper addresses the challenge of providing kinesthetic feedback in bilateral teleoperation by designing a wearable, lightweight (20 g), and compact haptic device, the HJ-Haptic, utilizing a honeycomb jamming mechanism for object stiffness render...
This paper presents a comprehensive user study aimed as assessing and differentiating operator expertise within bilateral teleoperation systems. The primary objective is to identify key performance metrics that effectively distinguish novice from exp...
This article proposes a distributed formation control strategy for mobile robots (using TurtleBot3 Burger platforms) based on teleoperation using artificial forces and mechanical impedance modeling. The proposed control law is structured in cascade,...
This paper presents the implementation of a bilateral teleoperation system for mobile robots operating in congested environments, incorporating force feedback and obstacle-aware navigation. The system uses the Novint Falcon device as the master inter...
Bilateral teleoperation systems have been widely used in many fields of robotics, such as industrial manipulation, medical treatment, space exploration, and deep-sea operation. Delays in communication, known as an inevitable issues in practical imple...
Conventional time domain passivity control inevitably embodies division. Zero division can occur under a tiny force or velocity, which may be inevitable, and will be the cause of control crash. To avoid the zero division problem and control crash, we...
In hazardous/emergency situations, public safety is of the utmost concern. In areas where human access is not possible or is restricted due to hazardous situations, a system or robot that can be distantly controlled is mandatory. There are many appli...
In nuclear power plants (NPP), dismantling is the most technically involved process during their life time. During the dismantling process, public safety must be ensured. In crisis situations, a remotely controlled robot system is needed for the dism...
In the master-slave heterogeneous teleoperation, the workspace of the slave manipulator is usually much larger than that of the master manipulator. This paper proposes a 6-DOF bilateral hybrid teleoperation control strategy to map the workspace of th...
Bilateral haptic teleoperation (BHT) has been the center of interest for researchers for over half a century. It is a type of cutting-edge technology that enables the operator to transmit touch sensations over the internet to any part of the globe. T...
This paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor UAV equipped with a passive tool in a bilateral teleoperation scheme. To solve the challenging control problem of force regulation in contact interactio...
The performances of position synchronization and force interaction of the teleoperation system provide a safe and efficient way for operators to perform tasks in remote, hazardous environments. In practice, however, communication delays and dynamic u...
A novel self-adaptive bilateral control strategy is introduced to manage uncertainties inherent in the teleoperation of an underwater manipulator system effectively. In response to uncertainties stemming from both the mathematical model and external...
This article explores the integration of a hapto-visual digital twin on a master device used for bilateral teleoperation. The device, known as a quasi-spherical parallel manipulator, is currently employed for the remote center of motion control in te...
Force-projecting bilateral control is an effective method for enhancing the positioning rigidity and stability of teleoperation systems equipped with compliant pneumatically driven followers. However, friction in the pneumatic actuation mechanism has...
This paper proposes the application of force-projecting bilateral control to a master-follower teleoperation system with pneumatic drive on the follower side and evaluates its effectiveness. The proposed method directly projects the operating force o...
Master–slave bilateral teleoperation systems face several practical challenges, including model uncertainties, time-varying communication delays, and environment-induced force disturbances. To address these issues, this paper proposes an adapti...
This work presents the experimental validation of a reset control mode for a Quasi-Spherical Parallel Manipulator (qSPM), designed as a master device for bilaterally teleoperated telesurgical systems. The reset functionality enables autonomous reposi...
This article investigates the realization of achieving safe and flexible assembly under manual teleoperation. A wearable positioning system for teleoperation assembly tasks was designed to provide great flexibility and operability. The 6D coordinate...
The control of bilateral teleoperation systems with time-varying delays is a challenging problem that is frequently addressed with advanced control techniques. Widely known controllers, like Proportional-Derivative (PD) and Proportional-Integral-Deri...
This study addresses sensor allocation by analyzing exponential stability for discrete-time teleoperation systems. Previous studies mostly concentrate on the continuous-time teleoperation systems and neglect the management of significant practical ph...
The goal of this paper is to improve the synchronization control performance of nonlinear teleoperation systems with system uncertainties in the presence of time delays. In view of the nonlinear discrete states of the teleoperation system in packet-s...
Bilateral teleoperation of skid-steering mobile robots with time-varying delays presents significant challenges in ensuring accurate leader–follower coupling. This article presents a novel controller for a bilateral teleoperation system compose...
Master–slave teleoperation systems with haptic feedback enable human operators to interact with objects or perform tasks in remote environments. This paper presents a sliding-mode control scheme tailored for bilateral teleoperation systems oper...
In recent years, hydraulic manipulators have been more and more widely used in the field of industrial automation because of their high power-to-weight ratio. Compared with autonomous control, bilateral teleoperation is a more reliable way to operate...
Teleoperation enables robots to perform tasks in dangerous or hard-to-reach environments on behalf of humans, but most methods lack operator immersion and compliance during grasping. To significantly enhance the operator’s sense of immersion an...
A bilateral neural network adaptive controller is designed for a class of teleoperation systems with constant time delay, external disturbance and internal friction. The stability of the teleoperation force feedback system with constant communication...
The remote perception of teleoperated surgical robotics has been a critical issue for surgeons in fulfilling their remote manipulation tasks. In this article, an adaptive teleoperation control framework is proposed. It provides a physical human&ndash...
Human operators have the trend of increasing physical and mental workloads when performing teleoperation tasks in uncertain and dynamic environments. In addition, their performances are influenced by subjective factors, potentially leading to operati...
In this paper, a novel bilateral shared control approach is proposed to address the issue of strong dependence on the human, and the resulting burden of manipulation, in classical haptic teleoperation systems for vehicle navigation. A Hidden Markov M...
Addressing input saturation, external disturbances, and uncertain system parameters, this paper investigates the position tracking control problem for bilateral teleoperation systems with a time delay communication channel. Based on a composite energ...
In robot control with physical interaction, like robot-assisted surgery and bilateral teleoperation, the availability of reliable interaction force information has proved to be capable of increasing the control precision and of dealing with the surro...
Enabling haptic communication as well as voice and data over the future 5G cellular system has become a demand. Tactile Internet is one of the main use cases of the 5G system that will allow the transfer of haptic communications in real time. Latency...
In recent years, robotic minimally invasive surgery has transformed many types of surgical procedures and improved their outcomes. Implementing effective haptic feedback into a teleoperated robotic surgical system presents a significant challenge due...
Based on the traditional control approach, the position-tracking performance of the teleoperation system with communication delay is generally asymptotically stable. In practical applications, the closed-loop system is expected to achieve stable and...
The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fundamental to enhance the performance of current control and motion plan...
Tele-ultrasound systems enable remote diagnostic imaging by transmitting both motion commands and haptic feedback between a sonographer and a robotic probe. While these systems aim to replicate conventional ultrasound procedures, they rarely address...
Force sensing in robotic-assisted minimally invasive surgery (RMIS) is crucial for performing dedicated surgical procedures, such as bilateral teleoperation and palpation. Due to the bio-compatibility and sterilization requirements, a specially desig...
Multi-omnidirectional mobile robot formations offer significant advantages for applications in unstructured environments. However, under constraints such as limited field of view and high operator cognitive load, existing teleoperation frameworks str...