Historical perspective and state of the art in robot force control
International Journal of Robotics Research
Asymptotic stability for force reflecting teleoperators with time delay
International Journal of Robotics Research
An overview of robot force control
Robotica
Brief paper: Synchronization of bilateral teleoperators with time delay
Automatica (Journal of IFAC)
Model-based Decentralized Control of Time-delay Teleoperation Systems
International Journal of Robotics Research
Position Tracking for Non-linear Teleoperators with Variable Time Delay
International Journal of Robotics Research
Asymptotic stability of teleoperators with variable time-delays
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
6DOF haptic cooperation over large latency network with wave variables for virtual prototyping
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Model-reference based wave-variable force control
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Passivity-based control for bilateral teleoperation: A tutorial
Automatica (Journal of IFAC)
Adaptive Control of Bilateral Teleoperation with Time Delay
International Journal of Intelligent Mechatronics and Robotics
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Telerobotics has long struggled to provide realistic force feedback to a user, especially across substantial time delays. Wave variable based controllers provide stable force reflection at frequencies up to a few hertz for typical communication delays; however, the bandwidth of human perception extends to a thousand hertz. In this paper we aim to improve the user's perception by constructing a fundamentally asymmetric controller that better matches the sensory capabilities of the human operator. The improvements stem from two extensions to a normal wave variable controller. First, we revisit wave reflections and utilize wave filtering and shaping to separate distracting oscillations from useful reaction information. This avoids excess damping inherent to impedance matching and enhances the low-frequency feel of the system. Secondly, we incorporate high-frequency feedback from a force sensor located at the slave end-effector. This augmented system leverages the passivation capabilities of wave filters to compensate for energy generation. It renders the complete spectrum of environment interaction forces to the user, allowing the perception of small environment features across substantial delays. These improvements are tested and validated in three simple experiments on a three-degrees-of-freedom testbed.