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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: Lecture Notes in Computer Science. Springer Berlin Heidelberg. EuroHaptics 2016, 4.-7. Juli 2016, London, England.

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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 AuthorsAuthors ORCID iD
Panzirsch, MichaelMichael.Panzirsch (at) dlr.dehttps://orcid.org/0000-0002-0647-7147
Hulin, ThomasThomas.Hulin (at) dlr.deUNSPECIFIED
Artigas Esclusa, JordiJordi.Artigas (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Ferre, Manuelm.ferre (at) upm.esUNSPECIFIED
Date:4 July 2016
Journal or Publication Title:Lecture Notes in Computer Science
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Telerobotik
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:09 Feb 2017 19:22

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