Improving perception in time-delayed telerobotics

International Journal of Robotics Research

Volumn 24, Issue 8, 2005, Pages 631-644

  Tanner, Neal A ^a   Niemeyer, Günter ^a  

^a STANFORD UNIVERSITY   (United States)

Author keywords

Force feedback; Force sensor; Human perception; Passivity; Teleoperation; Time delay; Wave variables

Indexed keywords

CONTROL EQUIPMENT; DAMPING; DEGREES OF FREEDOM (MECHANICS); DELAY CIRCUITS; FEEDBACK; IMPEDANCE MATCHING (ACOUSTIC); NATURAL FREQUENCIES; SENSORS; SENSORY PERCEPTION; SIGNAL FILTERING AND PREDICTION; TELECOMMUNICATION LINKS;

FORCE FEEDBACK; FORCE SENSORS; HUMAN PERCEPTION; PASSIVITY; TELEOPERATION; TIME DELAY; WAVE VARIABLES;

ROBOTICS;

EID: 23844489839     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/0278364905056261     Document Type: Article

References (36)

1. Anderson, R. J. and Spong, M. W. 1992. Asymptotic stability for force reflecting teleoperators with time delay. International Journal of Robotics Research 11(2): 135-149.
2. Arioui, H., Kheddar, A., and Mammar, S. 2002. A predictive wave-based approach for time-delayed virtual environments haptics systems. Proceedings of the IEEE International Workshop on Robot and Human Interactive Communication, Berlin, Germany, pp. 134-139.
3. Brooks, T. L. 1990. Telerobotic response requirements. Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, Los Angeles, CA, November, pp. 113-120.
4. Chopra, N., Spong, M. W., Hirche, S., and Buss, M. 2003. Bilateral teleoperation over the internet: the time varying delay problem. Proceedings of the American Control Conference, Denver, CO, June 4-6, pp. 155-160.
5. Colgate, J. E. and Hogan, N. 1988. Robust control of dynamically interacting systems. International Journal of Control 48(1):65-88.
6. Daniel, R. W. and McAree, P. R. 1998. Fundamental limits of performance for force reflection teleoperation. International Journal of Robotics Research 17(8):811-830.
7. Eusebi, A. and Melchiorri, C. 1998. Force reflecting telemanipulators with time delay: stability analysis and control design. IEEE Transactions on Robotics and Automation 14(4):635-640.
8. Fite, K. B., Shao, L., and Goldfarb, M. 2004. Loop shaping for transparency and stability robustness in bilateral telemanipulation. IEEE Transactions on Robotics and Automation 20(3):620-624.
9. Ganjefar, S., Momeni, H., and Sharifi, F. J. 2002. Teleoperation systems design using augmented wave-variables and smith predictor method for reducing time-delay effects. Proceedings of the IEEE International Symposium on Intelligent Control, Vancouver, British Columbia, Canada, October 27-30, pp. 333-338.
10. Guthart, G. S. and Salisbury, J. K. 2000. The Intuitive™ telesurgery system: overview and application. Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, April, Vol. 1, pp. 618-621.
11. Hannaford, B. and Anderson, R. 1988. Experimental and simulation studies of hard contact in force reflecting teleoperation. Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, PA, April 24-29, Vol. 1, pp. 584-589.
12. Hashtrudi-Zaad, K. and Salcudean, S. 2002. Transparency in time-delayed systems and the effect of local force feeb-back for transparent teleoperation. IEEE Transactions on Robotics and Automation 18(1):108-114.
13. Hogan, N. 1989. Controlling impedance at the man/machine interface. Proceedings of the IEEE International Conference on Robotics and Automation, Scottsdale, AZ, pp. 1626-1631.
14. Johansson, R. S., Landstrom, U., and Lundstrom, R. 1982. Responses of mechanoreceptive afferent units in the glabrous skin of the human hand to sinusoidal skin displacements. Brain Research 244(1): 17-25.
15. Kim, W. S., Hannaford, B., and Bejczy, A. K. 1992. Forcereflection and shared compliant control in operating telemanipulators with time delay. IEEE Transactions on Robotics and Automation 8(2):176-185.
16. Kontarinis, D. A. and Howe, R. D. 1995. Tactile display of vibratory information in teleoperation and virtual environments. Presence 4(4):387-402.
17. Kuchenbecker, K. J., Park, J. G., and Niemeyer, G. 2003. Characterizing the human wrist for improved haptic interaction. Proceedings of the ASME International Mechanical Engineering Congress, Washington, DC, November 15-21, Vol. 72, No. 1, pp. 591-598.
18. Lawrence, D. A. 1993. Stability and transparency in bilateral teleoperation. IEEE Transactions on Robotics and Automation 9(5):624-637.
19. Lozano, R., Chopra, N., and Spong, M. W. 2002. Passivation of force reflection bilateral teleoperators with time varying delay. Proceedings of Mechatronics Conference, Entschede, the Netherlands.
20. Massimino, M. J. and Sheridan, T. B. 1994. Teleoperator performance with varying force and visual feedback. Human Factors 36(1): 145-157.
21. Munir, S. and Book, W. J. 2002. Internet-based teleoperation using wave variables with prediction. IEEE-ASME Transactions on Mechatronics 7(2):124-133.
22. Niemeyer, G. and Slotine, J.-J. E. 1991. Stable adaptive teleoperation. IEEE Journal of Oceanic Engineering 16(1):152-162.
23. Niemeyer, G. and Slotine, J.-J. E. 1998. Towards force reflecting teleoperation over the Internet. Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium, May, Vol. 3, pp. 1909-1915.
24. Niemeyer, G. and Slotine, J.-J. E. 2004. Telemanipulation with time delays. International Journal of Robotics Research 23(9):873-890.
25. Oboe, R. and Fiorini, P. 1998. Design and control environment for internet-based telerobotics. International Journal of Robotics Research 17(4):433-449.
26. Ryu, J.-H., Kwon, D.-S., and Hannaford, B. 2004. Stable teleoperation with time-domain passivity control. IEEE Transactions on Robotics and Automation 20(2):365-373.
27. Salcudean, S. E., Zhu, M., Zhu, W-H., and Hashtrudi Zaad, K. 2000. Transparent bilateral teleoperation under position and rate control. International Journal of Robotics Research 19(12):1185-1202.
28. Schutter, J., Bruyninckx, H., Zhu, W., and Spong, M. 1997. Force control: a bird's eye view. Proceedings of the IEEE CSS/RAS International Workshop on Control Problems in Robotics and Automation: Future Directions, San Diego, CA, December.
29. Sheridan, T. B. 1993. Space teleoperation through time delay: review and prognosis. IEEE Transactions on Robotics and Automation 9(5):592-606.
30. Slotine, J.-J. E. and Li, W. 1991. Applied Nonlinear Control, Prentice-Hall, Englewood Cliffs, NJ.
31. Tanner, N. A. and Niemeyer, G. 2004a. Practical limitations of wave variable controllers in teleoperation. Proceedings of the IEEE Conference on Robotics, Automation, and Mechatronics, Singapore, December 1-3.
32. Tanner, N. A. and Niemeyer, G. 2004b. Online tuning of wave impedance in telerobotics. Proceedings of the IEEE Conference on Robotics, Automation, and Mechatronics, Singapore, December 1-3.
33. Tanner, N. A. and Niemeyer, G. 2005. Improving perception in time-delayed teleoperation. Proceedings of the IEEE Conference on Robotics and Automation, Barcelona, Spain.
34. Whitney, D. 1987. A historical perspective and state of the art in robot force control. International Journal of Robotics Research 6(1):3-14.
35. Zeng, G. and Hemami, A. 1997. An overview of robot force control. Robotica 15(5):473-482.
36. Zilles, C. 1995. Haptic rendering with the toolhandle haptic interface. Masters Thesis, Massachusetts Institute of Technology, Cambridge, MA.