Synthesized transduction for proximity sensing in tele-operated systems

In tele-robotic systems with remote slave robot that mimics human actions on master arm, interactions between remote slave robot with its environment are perceived from reaction that develop when the slave is in physical contact with objects only. A method for enabling early sensing occurring prior to contact has been developed to eliminate `surprise contact' by taking a synthesised transduction route that uses models of the parts in workspace and sensed velocity of robot tool-tip. Critical factors for making the technique suitable for real-time function of system and automated application have been addressed.