Significance of Causality Analysis for Transparent Teleoperation

This paper presents significance of causality analysis in attaining transparency of bilateral teleoperation. The causality analysis enabled novel understanding of teleoperation systems, thereby providing methods for finding transparency-attainable control architectures with proper control parameters. Furthermore, when combined with the causality-based stability, stability could still be guaranteed while attaining transparency. Experimental verification is given for simple 1-DOF teleoperation tasks.