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Integrating Measured Force Feedback in Passive Multilateral Teleoperation

Panzirsch, Michael and Hulin, Thomas and Artigas Esclusa, Jordi and Ott, Christian and Ferre, Manuel (2016) Integrating Measured Force Feedback in Passive Multilateral Teleoperation. In: 10th International Conference on Haptics: Perception, Devices, Control, and Applications, EuroHaptics 2016. Springer Berlin Heidelberg. EuroHaptics 2016, 4.-7. Juli 2016, London, England. doi: 10.1007/978-3-319-42321-0_29. ISBN 978-3-319-42321-0. ISSN 0302-9743.

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In teleoperation systems, the master robot receives force feedback from the remote slave side. Thus, the human operator can perceive the contact between the slave robot and its environment. Application of a force sensor at the slave robot improves the performance of the telepresence system in terms of transparency. Still, so far no Approach allowing measured force feedback in time delayed multilateral Systems that allow the interaction of multiple agents can be found in literature. To this end, this paper presents a multilateral setup with passive measured force feedback based on the time domain passivity approach. Besides this solution to measured force feedback in multilateral systems, the presented approach promises improvements compared to other time invariant and model based approaches for measured force feedback also when applied to bilateral systems. Experiments are presented to allow for a performance analysis of the proposed system design.

Item URL in elib:https://elib.dlr.de/105344/
Document Type:Conference or Workshop Item (Poster)
Title:Integrating Measured Force Feedback in Passive Multilateral Teleoperation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Panzirsch, MichaelUNSPECIFIEDhttps://orcid.org/0000-0002-0647-7147UNSPECIFIED
Hulin, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-3814-075XUNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:4 July 2016
Journal or Publication Title:10th International Conference on Haptics: Perception, Devices, Control, and Applications, EuroHaptics 2016
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Publisher:Springer Berlin Heidelberg
Series Name:Lecture Notes in Computer Science
Keywords:teleoperation, measured force feedback, passivity, TDPA
Event Title:EuroHaptics 2016
Event Location:London, England
Event Type:international Conference
Event Dates:4.-7. Juli 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Telerobotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Panzirsch, Michael
Deposited On:25 Jul 2016 13:53
Last Modified:17 Nov 2023 08:58

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