Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation
Ribin Balachandran,Jee-Hwan Ryu,Mikael Jorda,Christian Ott,Alin Albu-Schaeffer,Ribin Balachandran,Jee-Hwan Ryu,Mikael Jorda,Christian Ott,Alin Albu-Schaeffer
In the present paper, we first adopt explicit force control from general robotics and embed it into teleoperation systems to enhance the transparency by reducing the effect of the perceived inertia to the human operator and simultaneously improve contact perception. To ensure stability of the proposed teleoperation system considering time-delays, we propose a sequential design procedure based on t...
