# Parameterization and Design of Telepresence Robot to Avoid Obstacles
## 1 Introduction  
The development of telepresence robots is getting much attention in various areas of human-robot interaction, healthcare systems and military applications. The evolution of 6G and 5G also supports these systems and makes them easy to implement. Operating such systems remotely is easy and can be employed in healthcare surgery, and stopping wild forest fires. Many rescue operations use the latest communication technology devices [1]. The prominent areas include healthcare, elderly assistance, autism therapy, guidance and office meetings [1; 2; 3; 4; 5; 6; 7]. The word telepresence [8] means thinking of oneself as being controlled remotely in another environment. The telepresence robots connect through a remote location and receive commands of moving and actuating in that remote location. Different studies address user-adaptive [2; 8] and environment-adaptive systems [9] for human-robot interaction. However, these studies lack many deficiencies in obstacle avoidance and precise self-localization. In the present research work, we further explore the telepresence robots, emphasizing the design of speed control with an additional feature of avoiding obstacles. The mobile experimental robot for locomotion and intelligent navigation (MERLIN) is based on a 40 cm long lightweight chassis and a suspension system,enabling it to drive up to 40 km/h outdoors. Due to its initial purpose, it can be easily equipped with different sensor configurations to characterize the working environment. In the recent era, telepresence mobile robotics has been expanding rapidly, with a wide range of commercial systems availability and research support [9; 10; 11; 12]. The published work varies from navigation and immersion systems to corporate office and healthcare systems assessments. However, a comprehensive systems design with precision target control is lacking. The main purpose of this paper is to provide a design and analysis of the control systems, their experimental setup, and self-localization with future research directions. MERLIN is a robotic system based on serious plays for upper limb telerehabilitation in patients with a stroke [13]. It is presented as an affordable and easy-to-use solution to allow the patient to complete intensive rehabilitation at home, with continuous remote monitoring and communication with the therapist [12; 13; 14]. The system comprises an upper-limb rehabilitation robot and a software platform that guides and measures the patient's movements and allows physicians to customize the therapeutic plan and monitor the patient's evolution [15; 16]. The purpose of this manuscript is to present the usability validation of the MERLIN system. In this study, we evaluate the ease of use, consistency and acceptance of the system. These systems aim to capture the environment appropriately and to maneuver based on acquired knowledge [17; 18; 19; 20; 21]. The main contribution of this paper is to analyze the speed and position controller and stabilize the non-linear behavior by designing an optimized control system. This paper presents and illustrates some ideas that would contribute to the genetic basis of architecture, allowing us to take into account as far as possible the previous requirements. The challenge may be understood as the feasibility of designing an autonomous robot with the capacity to plan its actions to accomplish specified tasks. For that purpose, we emphasize design aspects: speed and control analysis. Furthermore, verification aspects will be made possible almost from implementation up to high-level mission specification when models based on state transition systems are employed. In the presented research work, a mobile robot based on a chassis of a vehicle model was developed. In particular, a microcontroller-based control was developed, which controls the robot's behavior depending on user preferences and environmental influences and controls. In addition to the pure control, actuators and sensors, the chassis may be modified or upgraded [22].