Human telehaptic perception of stiffness using an adaptive impedance reflection bilateral teleoperation control scheme

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dc.contributor.author Velanas, SV en
dc.contributor.author Tzafestas, CS en
dc.date.accessioned 2014-03-01T02:46:49Z
dc.date.available 2014-03-01T02:46:49Z
dc.date.issued 2010 en
dc.identifier.uri http://hdl.handle.net/123456789/32877
dc.subject Adaptive impedance control en
dc.subject Psychometric curves en
dc.subject Psychophysics en
dc.subject Stiffness perception en
dc.subject Telehaptics en
dc.subject.other Impedance control en
dc.subject.other Psychometric curves en
dc.subject.other Psychophysics en
dc.subject.other Stiffness perception en
dc.subject.other Tele-haptics en
dc.subject.other Delay control systems en
dc.subject.other Physics en
dc.subject.other Psychophysiology en
dc.subject.other Remote control en
dc.subject.other Stiffness en
dc.subject.other Time delay en
dc.title Human telehaptic perception of stiffness using an adaptive impedance reflection bilateral teleoperation control scheme en
heal.type conferenceItem en
heal.identifier.primary 10.1109/ROMAN.2010.5598677 en
heal.identifier.secondary http://dx.doi.org/10.1109/ROMAN.2010.5598677 en
heal.identifier.secondary 5598677 en
heal.publicationDate 2010 en
heal.abstract In present days, teleoperation is used in many challenging applications where the tasks to be accomplished from a distance are very complex and require accurate and reliable reproduction of the haptic sensations involved. The main factor that can cause a certain degradation of the quality of teleoperation is the presence of time delays. An effective way of alleviating the consequences of time-delays is the use of an adaptive impedance reflection teleoperation scheme, aiming to reconstruct at the master site a local model of the impedance of the remote environment. The goal of this paper is to show the effectiveness of such a controller via experiments that involve a real remote environment. In these experiments, a forcedchoice procedure has been used, where each subject is presented in every trial with two spring fields (remotely located and telehaptically perceived) and is asked to identify the stiffer. The proposed adaptive teleoperation control scheme is compared to a typical direct force-reflection telemanipulation, in the presence of an emulated time delay of 100 msec. Experimental results show the superior performance of the proposed adaptive impedance reflection scheme, which, as opposed to classical direct teleoperation, seems to maintain the thresholds of human haptic perception close to the ones obtained when no time delay is present in the bilateral communication and control loop. © 2010 IEEE. en
heal.journalName Proceedings - IEEE International Workshop on Robot and Human Interactive Communication en
dc.identifier.doi 10.1109/ROMAN.2010.5598677 en
dc.identifier.spage 21 en
dc.identifier.epage 26 en

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