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Transparency Measurement of Telepresence Systems

Radi, Marwan and Artigas, Jordi and Preusche, Carsten and Hirzinger, Gerd (2008) Transparency Measurement of Telepresence Systems. In: Lecture Notes in Computer Science. Springer Berlin / Heidelberg. ISSN 0302-9743

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After Stability, transparency is a major goal when designing haptic telepresence schemes. Ideal transparency, where the user feels direct haptic interaction with the remote environment, becomes affected by each of the components of the teleoperation system. In an ideal scenario, the energy observed at the master side is straightforwardly conveyed to the slave side. Conversely, realistic scenarios include sources of energy leaks, such as time delays and discretization blocs, which, if stability is to be preserved, they will normally have a lossy passive nature, which therefore lowers transparency. Only a few studies on how to evaluate transparency quantitatively are reported in the literature. This work investigates and extends two methods which aim at outputting a transparency coefficient: an analytical model-based method which uses Yokokohji’s Indexes of Transparency [1], and an empirical approach based on the Zwidth concept [2], which allows to measure transparency without the need of precise knowledge of the system. The methods are validated using a velocity-force haptic telepresence system testing for different control parameters and different time delays in channel.

Document Type:Book Section
Title:Transparency Measurement of Telepresence Systems
AuthorsInstitution or Email of Authors
Preusche, CarstenUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:28 June 2008
Refereed publication:Yes
Publisher:Springer Berlin / Heidelberg
Series Name:Lecture Notes in Computer Science
Keywords:telepresence, teleoperation, haptics, transparency, time delay, wave variables
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Jordi Artigas Esclusa
Deposited On:22 Oct 2008
Last Modified:12 Dec 2013 20:33

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