# Bilateral Teleoperation System with Integrated Position/Force Impedance Control for Assembly Tasks
###### Abstract  
This article investigates the realization of achieving safe and flexible assembly under manual teleoperation. A wearable positioning system for teleoperation assembly tasks was designed to provide great flexibility and operability. The 6D coordinate information of the hand was reconstructed with a wireless locator in real-time, and three control methods were conducted. In contrast to the traditional impedance methods, an integrated position/force control method which takes the operator's posture as the desired position was proposed, thus achieving the combination of the initiative of the operator and the compliance of the impedance control. Additionally, the method possesses the capacity of eliminating collision force caused by hand jitters and misoperation. Finally, the system was evaluated in a representative application of teleoperated peg-in-hole insertion. Additionally, a challenging task was tested to illustrate advantages of the proposed method. The results show that the position trailing is precise enough for a teleoperation system, and the proposed integrated position/force control method approaches outperformed position control and impedance in terms of precision and operability. t pacs: 02.30.-a, 02.30.-a, 02.  
elaborated upon in [8]. [PERSON] et al. [9] presented a semi-autonomous robot teleoperation system with obstacle avoidance via model predictive control. [PERSON] and [PERSON] [10] proposed an adaptive fault-tolerant prescribed-time control method for a class of teleoperation systems with actuator faults and position error constraints. Using the concept of artificial force fields, [PERSON] et al. [11] provided operators with a teleoperation guidance force to avoid serious collisions due to operator error. This concept is also reflected in [12]. With the introduction of these methods, the performance of teleoperation systems has been optimized in terms of stability, safety, and precision. However, these methods reduce the flexibility of teleoperation, and are more suitable for collision-free motion guidance; additionally, they are not capable of handling operations when requiring contact. To realize a flexible assembly, the concept of impedance control was proposed [13], which can achieve the desired mechanical interaction between the robotic equipment and its environment [14]. Human-machine interaction and mechanical manipulation are two main areas of applied impedance control, including rehabilitation robots [15; 16; 17; 18], collaborative robots [19; 20; 21], and some industrial robots [22]. Some studies have also applied impedance control to improve the safety and accuracy of robots. A local compliance controller was proposed by [PERSON] et al. [23] to avoid positioning errors between the robot and the environment. [PERSON] et al. [24] proposed a virtual impedance control for safe human-robot interaction. The virtual impedance control regulates the dynamics with the chosen damping ratio and bandwidth and forces the system away from the obstacles. [PERSON] et al. [25] developed a data-efficient learning variable impedance control method that enables industrial robots to automatically learn to control the contact force. In [26], the proposed adaptive impedance control algorithm provides a safe interaction between human and robot. Additionally, [PERSON] et al. [27] proposed an impedance controller based on internal force control to improve the robustness and transparency of the system. These studies have effectively improved the stability and accuracy of the robots, enabling compliant and precise assembly. However, this requires the position and shape of the component to be known; adaptability is insufficient in complex and changing situations. To accomplish precise and flexible assembly by manual teleoperation, a teleoperation assembly system was proposed in this paper. A wearable positioner with a large working space and flexible movement was designed to perform motion tracking.