Adaptive Model-Mediated Teleoperation for Tasks Interacting With Uncertain Environment

• Published in: IEEE access Vol. 9; pp. 128188 - 128201
• Main Authors: Kim, Cheongjun, Lee, Doo Yong
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptation models; Computational modeling; Delay effects; Environment models; Force; Haptic interfaces; Haptics; Robots; stability; Stiffness; Systems stability; Task analysis; teleoperation; time delay; Time lag

Model-mediated teleoperation (MMT) employs an environment model at the master side to compute feedback output to the master at a faster rate. This approach improves system stability in the presence of time delay. MMT, however, does not generally perform well if the employed model is not accurate. Th...