@inproceedings{477385ff2ceb45d2817364daf47c32d1,
title = "Enhancement of multi-user teleoperation systems by prediction of dyadic haptic interaction",
abstract = "By integrating a model of the remote environment or the human operator into a haptic bilateral teleoperation control architecture, their behavior can be predicted to compensate time delay introduced by a non-ideal communication channel. This results in increased robustness and fidelity of the closed-loop system. In literature, models of the remote environment, the teleoperator dynamics or task-specific operator models are integrated into single-user teleoperation systems. The present paper is the first that explicitly considers dyadic haptic interaction between two operators in the prediction algorithms applied to a multi-user teleoperation system. Our comparative experimental results obtained in a 3 degree-of-freedom teleoperation system show an increased robustness and fidelity of this approach compared to a classic bilateral force-force architecture.",
author = "Daniela Feth and Angelika Peer and Martin Buss",
note = "Publisher Copyright: {\textcopyright} Springer-Verlag Berlin Heidelberg 2014.; 12th International Symposium on Experimental Robotics, ISER 2010 ; Conference date: 18-12-2010 Through 21-12-2010",
year = "2014",
doi = "10.1007/978-3-642-28572-1_59",
language = "English",
series = "Springer Tracts in Advanced Robotics",
publisher = "Springer Verlag",
pages = "855--869",
editor = "Oussama Khatib and Vijay Kumar and Gaurav Sukhatme",
booktitle = "Experimental Robotics - The 12th International Symposium on Experimental Robotics",
}