Integrating Measured Force Feedback in Passive Multilateral Teleoperation

Panzirsch, Michael and Hulin, Thomas and Artigas Esclusa, Jordi and Ott, Christian and Ferre Pérez, Manuel (2016). Integrating Measured Force Feedback in Passive Multilateral Teleoperation. In: "EuroHaptics 2016", July 4-7, 2016, London, UK. ISBN 978-3-319-42320-3 Online ISBN: 978-3-319-42321-0. pp. 316-326. https://doi.org/10.1007/978-3-319-42321-0_29.

Description

Title: Integrating Measured Force Feedback in Passive Multilateral Teleoperation
Author/s:
  • Panzirsch, Michael
  • Hulin, Thomas
  • Artigas Esclusa, Jordi
  • Ott, Christian
  • Ferre Pérez, Manuel
Item Type: Presentation at Congress or Conference (Article)
Event Title: EuroHaptics 2016
Event Dates: July 4-7, 2016
Event Location: London, UK
Title of Book: Haptics: Perception, Devices, Control, and Applications. 10th International Conference, EuroHaptics 2016, London, UK, July 4-7, 2016, Proceedings, Part I
Date: 2016
ISBN: 978-3-319-42320-3 Online ISBN: 978-3-319-42321-0
Subjects:
Freetext Keywords: Teleoperation, measured force feedback, passivity, TDPA
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

In teleoperation systems, the master robot receives force feedback from the remote slave side. Thus, the human operator can perceive the contact between the slave robot and its environment. Application of a force sensor at the slave robot improves the performance of the telepresence system in terms of transparency. Still, so far no approach allowing measured force feedback in time delayed multilateral systems that allow the interaction of multiple agents can be found in literature. To this end, this paper presents a multilateral setup with passive measured force feedback based on the time domain passivity approach. Besides this solution to measured force feedback in multilateral systems, the presented approach promises improvements compared to other time invariant and model based approaches for measured force feedback also when applied to bilateral systems. Experiments are presented to allow for a performance analysis of the proposed system design.

More information

Item ID: 46691
DC Identifier: http://oa.upm.es/46691/
OAI Identifier: oai:oa.upm.es:46691
DOI: 10.1007/978-3-319-42321-0_29
Official URL: http://www.eurohaptics2016.org/
Deposited by: Memoria Investigacion
Deposited on: 21 Jun 2017 10:55
Last Modified: 21 Jun 2017 10:55
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