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

Content Provider	IEEE Xplore Digital Library
Author	Velanas, S.V. Tzafestas, C.S.
Copyright Year	2010
Description	Author affiliation: School of Electrical and Computer Engineering, National Technical University of Athens, Zographou Campus, 15773, Greece (Velanas, S.V.; Tzafestas, C.S.)
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 forced-choice 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.
Starting Page	21
Ending Page	26
File Size	465622
Page Count	6
File Format	PDF
ISBN	9781424479917
ISSN	19449445
e-ISBN	9781424479900
DOI	10.1109/ROMAN.2010.5598677
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-09-13
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Impedance Haptic interfaces Delay effects Humans Springs Mathematical model Computers psychometric curves Telehaptics stiffness perception adaptive impedance control psychophysics
Content Type	Text
Resource Type	Article

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