By Topic

The Effect of Interaction Force Estimation on Performance in Bilateral Teleoperation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Edvard Naerum ; Oslo University Hospital and University of Oslo, Oslo ; Ole Jakob Elle ; Blake Hannaford

Measuring interaction forces in bilateral teleoperation systems may be difficult, due to size and cost restrictions on the force sensors. Obtaining the interaction forces by estimation can be a viable alternative. The primary contribution of this paper is the study of the effect of interaction force estimation on performance in bilateral teleoperation. A distinction is made between the obvious effect as a result of inaccurate estimation, and the less obvious effect as a result of the inherent theoretical properties of a system that has two points of interaction with its surroundings (a teleoperator) as opposed to one point of interaction (single robot). Specifically, the existence of a singularity property is pointed out, at which interaction force estimation is impossible, and close to which it may be infeasible. The secondary contribution of the paper is the Force Sensor Free (FSF) transformation for linear teleoperation systems, which is an automated procedure that turns a teleoperation controller with force sensing into an equivalent controller with force estimation. An experiment is reported whose objective is to validate the operation of the FSF transformation on a real teleoperator.

Published in:

IEEE Transactions on Haptics  (Volume:5 ,  Issue: 2 )