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Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots

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4 Author(s)
Slawinski, E. ; Inst. de Autom., Nat. Univ. of San Juan, San Juan, Argentina ; Mut, V.A. ; Fiorini, P. ; Salinas, L.R.

This paper proposes a new criterion, called absolute transparency, to design control schemes applied to bilateral teleoperation of mobile robots with time-varying delay. The absolute transparency measures how and how fast the human operator and the remote system interact with each other through a teleoperation system. The absolute transparency of different control schemes is analyzed and tested through teleoperation experiments where a human operator drives a mobile robot and receives both visual and force feedback.

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Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on  (Volume:42 ,  Issue: 2 )