NDLI: Projection-based force reflection algorithm for stable bilateral teleoperation over networks

Content Provider	IEEE Xplore Digital Library
Author	Polushin, I.G. Liu, P.X. Chung-Horng Lung
Copyright Year	2007
Description	Author affiliation: Carleton Univ., Ottawa (Polushin, I.G.; Liu, P.X.; Chung-Horng Lung)
Abstract	The problem of stable force-reflecting teleoperation is addressed where the communication between the master and the slave is subject to multiple time-varying, discontinuous, and possibly unbounded communication delays. A new force reflection algorithm is proposed which improves the stability of the system without decreasing its transparency. Based on an estimate of the human forces provided by a high-gain input observer, the proposed algorithm restricts the reflected force in such a way that it eliminates the motion of the master induced by the force reflection signal without changing the human perception of the environmental force. It is shown that the force reflection algorithm proposed allows to achieve stability of the system for arbitrarily high force-reflection gain and arbitrarily low damping/stiffness of the master manipulator.
Starting Page	2654
Ending Page	2659
File Size	230584
Page Count	6
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399121
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Reflection Humans Master-slave Stability Damping Force feedback Teleoperators Lungs Low pass filters Filtering
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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