Insights on Human Adapted Control of Networked Telepresence and Teleaction Systems

• 영문명: Insights on Human Adapted Control of Networked Telepresence and Teleaction Systems
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Sandra Hirche Martin Buss
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Assistive Robotics and Mechatronics Vol.7 No.1, 20~31쪽, 전체 12쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2006.03.01

영문 초록

  Multimodal telepresence and teleaction systems enable a human operator to perform in remote environments through a telerobot and a communication network. The focus of this article is on the networked haptic (force feedback) control system with the key challenges of stability and transparency. Transparency is achieved if the human cannot distinguish between direct and tele-interaction. Human perception plays an important role for transparency evaluation. The first part of this article discusses insights how human haptic perception of the remote environment is affected by communication time delay when using the standard passivation control approach with the wave variable (scattering) transformation to achieve stability. The second line of discussion concentrates on network traffic reduction by a novel psychophysically motivated deadband control approach. Human perception is considered in both approaches and experimental validation results are presented.

목차

Abstract
1. INTRODUCTION
2. CONTROL AND PSYCHOPHYSICAL BACKGROUND
3.  TRANSPARENCY ANALYSIS OF TIME DELAY
4. TRANSPARENCY INSIGHTS ON TIME DELAY
5. TIME DELAY EXPERIMENTS
6. TOWARDS NETWORK TRAFFIC REDUCTION
7. DEADBAND EXPERIMENTS
8. CONCLUSIONS
ACKNOWLEDGMENTS
REFERENCES