Journal
IEEE ACCESS
Volume 4, Issue -, Pages 425-449Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2016.2517926
Keywords
Model-mediated teleoperation; tele-haptics; time-delayed teleoperation; stability and transparency; parameter estimation; haptic data reduction; model update
Categories
Funding
- European Research Council (ERC) through the European Union [258941]
- European Research Council (ERC) [258941] Funding Source: European Research Council (ERC)
Ask authors/readers for more resources
Bilateral teleoperation systems with haptic feedback allow human users to interact with objects or perform complex tasks in remote or inaccessible environments. Communication delays in teleoperation systems jeopardize system stability and transparency, leading to degraded system performance and poor user experience. In this paper, we provide a survey of the model-mediated teleoperation (MMT) approach, which has been developed to guarantee both system stability and transparency in the presence of arbitrary communication delays. This survey focuses on two major parts: 1) the historical development of the MMT approach from the late 1980s to the present and 2) the main challenges facing the design of a reliable MMT system. Along with the discussion of the MMT challenges and the proposed solutions, a series of experiments has been conducted to compare the performance between the existing techniques and to supply data that were missing in the previous studies on the MMT approach.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available