Wave variables based teleoperation with time delay: application to space based laser maintenance

The research focuses on human-machine interface for teleoperation with time delay, applicable to space based laser mirror maintenance/cleanup. Specifically, wave-variable approach has been investigated to overcome time delay in the bilateral teleoperation. Experimental study was performed with virtual model and a reflective joystick. It demonstrates the feasibility of wave variables concept for free space and contact tasks under up to 1 sec time delay.