HapticV1, PascalFrancis, Curation, bibRecord, 000E35

A survey of environment-, operator-, and task-adapted controllers for teleoperation systems

Identifieur interne : 000E35 ( PascalFrancis/Curation ); précédent : 000E34; suivant : 000E36

A survey of environment-, operator-, and task-adapted controllers for teleoperation systems

Auteurs : Carolina Passenberg [Allemagne] ; Angelika Peer [Allemagne] ; Martin Buss [Allemagne]

Source :

Mechatronics : (Oxford) [ 0957-4158 ] ; 2010.

RBID : Pascal:11-0002730

Descripteurs français

Pascal (Inist)
- Téléopération, Rétroaction, Robustesse, Relation maître esclave, Sensibilité tactile, Opérateur humain, Capteur mesure, Temps retard, Classification, Modélisation.
Wicri :
- topic : Classification.

English descriptors

KwdEn :
- Classification, Delay time, Feedback regulation, Human operator, Master slave relationship, Measurement sensor, Modeling, Remote operation, Robustness, Tactile sensitivity.

Abstract

Bilateral haptic teleoperation systems allow humans to perform complex tasks in a remote or inaccessible environment, while providing haptic feedback to the human operator. The incorporation of online gained environment-, operator-, or task-specific (EOT) information in the controller structure can lead to significant improvements in robustness, task performance, feeling of presence, or fidelity without compromising stability. This article provides a classification as well as a survey of approaches, called EOT-adapted controllers, which have been developed in this area. A discussion of improvements and requirements is provided for each method. The performed analysis indicates that several methods require the usage of additional sensors or are based on accurate model assumptions. The benefit of EOT-adapted controllers is mostly application-dependent, as each method focuses on the improvement of a specific aspect like coping with time delay or avoiding forbidden regions.

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A08	`01`	`1`	`ENG`	`@1 A survey of environment-, operator-, and task-adapted controllers for teleoperation systems`
A09	`01`	`1`	`ENG`	`@1 Special Issue on Design and Control Methodologies in Telerobotics`
A11	`01`	`1`		`@1 PASSENBERG (Carolina)`
A11	`02`	`1`		`@1 PEER (Angelika)`
A11	`03`	`1`		`@1 BUSS (Martin)`
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A15	`02`			`@1 Institute of Automatic Control Engineering, Technische Universität München @2 Munich @3 DEU @Z 3 aut.`
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C01	`01`		`ENG`	@0 Bilateral haptic teleoperation systems allow humans to perform complex tasks in a remote or inaccessible environment, while providing haptic feedback to the human operator. The incorporation of online gained environment-, operator-, or task-specific (EOT) information in the controller structure can lead to significant improvements in robustness, task performance, feeling of presence, or fidelity without compromising stability. This article provides a classification as well as a survey of approaches, called EOT-adapted controllers, which have been developed in this area. A discussion of improvements and requirements is provided for each method. The performed analysis indicates that several methods require the usage of additional sensors or are based on accurate model assumptions. The benefit of EOT-adapted controllers is mostly application-dependent, as each method focuses on the improvement of a specific aspect like coping with time delay or avoiding forbidden regions.
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C03	`01`	`X`	`ENG`	`@0 Remote operation @5 06`
C03	`01`	`X`	`SPA`	`@0 Teleacción @5 06`
C03	`02`	`X`	`FRE`	`@0 Rétroaction @5 07`
C03	`02`	`X`	`ENG`	`@0 Feedback regulation @5 07`
C03	`02`	`X`	`SPA`	`@0 Retroacción @5 07`
C03	`03`	`X`	`FRE`	`@0 Robustesse @5 08`
C03	`03`	`X`	`ENG`	`@0 Robustness @5 08`
C03	`03`	`X`	`SPA`	`@0 Robustez @5 08`
C03	`04`	`X`	`FRE`	`@0 Relation maître esclave @5 18`
C03	`04`	`X`	`ENG`	`@0 Master slave relationship @5 18`
C03	`04`	`X`	`SPA`	`@0 Relación maestro esclavo @5 18`
C03	`05`	`X`	`FRE`	`@0 Sensibilité tactile @5 19`
C03	`05`	`X`	`ENG`	`@0 Tactile sensitivity @5 19`
C03	`05`	`X`	`SPA`	`@0 Sensibilidad tactil @5 19`
C03	`06`	`X`	`FRE`	`@0 Opérateur humain @5 20`
C03	`06`	`X`	`ENG`	`@0 Human operator @5 20`
C03	`06`	`X`	`SPA`	`@0 Operador humano @5 20`
C03	`07`	`X`	`FRE`	`@0 Capteur mesure @5 21`
C03	`07`	`X`	`ENG`	`@0 Measurement sensor @5 21`
C03	`07`	`X`	`SPA`	`@0 Captador medida @5 21`
C03	`08`	`X`	`FRE`	`@0 Temps retard @5 22`
C03	`08`	`X`	`ENG`	`@0 Delay time @5 22`
C03	`08`	`X`	`SPA`	`@0 Tiempo retardo @5 22`
C03	`09`	`X`	`FRE`	`@0 Classification @5 28`
C03	`09`	`X`	`ENG`	`@0 Classification @5 28`
C03	`09`	`X`	`SPA`	`@0 Clasificación @5 28`
C03	`10`	`X`	`FRE`	`@0 Modélisation @5 29`
C03	`10`	`X`	`ENG`	`@0 Modeling @5 29`
C03	`10`	`X`	`SPA`	`@0 Modelización @5 29`
N21				`@1 003`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

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Le document en format XML

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<front><div type="abstract" xml:lang="en">Bilateral haptic teleoperation systems allow humans to perform complex tasks in a remote or inaccessible environment, while providing haptic feedback to the human operator. The incorporation of online gained environment-, operator-, or task-specific (EOT) information in the controller structure can lead to significant improvements in robustness, task performance, feeling of presence, or fidelity without compromising stability. This article provides a classification as well as a survey of approaches, called EOT-adapted controllers, which have been developed in this area. A discussion of improvements and requirements is provided for each method. The performed analysis indicates that several methods require the usage of additional sensors or are based on accurate model assumptions. The benefit of EOT-adapted controllers is mostly application-dependent, as each method focuses on the improvement of a specific aspect like coping with time delay or avoiding forbidden regions.</div>
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A survey of environment-, operator-, and task-adapted controllers for teleoperation systems

A survey of environment-, operator-, and task-adapted controllers for teleoperation systems

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Descripteurs français

English descriptors

Abstract

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