Parametric Sensitivity Analyses for Perceived Impedance in Haptic Teleoperation

In this paper, sensitivity analyses (SA) are performed in order to find the effect of variations of master/slave site dynamics parameters on the perceived impedance in haptic teleoperation in the absence/presence of communication time delays. These analyses are useful in finding the dominant parameter perceived by the human operator during the teleoperation. In this regard, the comprehensive sensitivity analyses are performed for the prominent force reflecting teleoperation architectures such as (i) two-channel (2C) teleoperation architectures mainly (a) position error-based architecture (PE) and (b) direct force reflection architecture (PF), (ii) four-channel architecture (4C) and, (iii) three-channel (3C) architecture (a) OFC architecture and (b) EFC architecture. Several important results and conclusions are presented for sensitivity of perceived impedance in frequency domain using MATLAB/Simulink.