Perception-centric force scaling in bilateral teleoperation
In this work we propose a control architecture that leads to an intrinsically stable bilateral teleoperation system where the telepresence of the user is improved in terms of remote force discrimination We identify through a set of psychophysical experiments a variable force scaling matrix that improves the operator s feeling of the remote environment We show that it is possible to build a passive control scheme that embeds this perception centric scaling Finally an experiment is presented to validate the results proposed in the paper (c) 2010 Elsevier Ltd All rights reserved
telepresence psychophysical experiments passive bilateral teleoperation