Improved bilateral teleoperation with proactive haptic sensing and transmission

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dc.authoridBogosyan, Seta/0000-0001-6112-7636|Gokasan, Metin/0000-0002-8931-238X;
dc.authorwosidAydın, Ebru/D-1403-2010
dc.authorwosidBogosyan, Seta/ABF-6065-2020
dc.authorwosidAsif, Sabanovic/N-7789-2013
dc.authorwosidGokasan, Metin/G-2970-2012
dc.authorwosidBaran, Eray/U-3499-2019
dc.contributor.authorKuzu, Ahmet
dc.contributor.authorBaran, Eray A.
dc.contributor.authorBogosyan, Seta
dc.contributor.authorGokasan, Metin
dc.contributor.authorSabanovic, Asif
dc.date.accessioned2024-07-18T20:48:54Z
dc.date.available2024-07-18T20:48:54Z
dc.date.issued2018
dc.departmentİstanbul Bilgi Üniversitesien_US
dc.description.abstractThis article presents a novel master-slave control configuration that is experimentally demonstrated to improve teleoperation performance under random network delay. This is achieved via the design of a proactive haptic sensing system based on a laser range sensor on the slave side, which in turn allows for the proactive transmission of force control from the master to the slave, thus compensating for Internet-based network delays. The proposed configuration introduces three main contributions to the literature of bilateral control systems: (1) fully decoupled position and force control systems, which allow for the controller gains of each loop to be tuned independently, eliminating the trade-off common to most previous literature; (2) a novel approach that exploits the slow variation nature of the environment parameters, resulting in a lower bandwidth requirement in comparison to previous force control methods; (3) capability to measure the slave environment location and the prediction of the contact force as a result, which provides the human operator with the capability to generate the reaction force proactively on the master side. The conducted experiments demonstrated a significantly improved performance in terms of synchronized forces and positions despite the random network delay between the master and slave systems.en_US
dc.identifier.doi10.1177/0959651817735777
dc.identifier.endpage91en_US
dc.identifier.issn0959-6518
dc.identifier.issn2041-3041
dc.identifier.issue1en_US
dc.identifier.scopus2-s2.0-85039913654en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.startpage79en_US
dc.identifier.urihttps://doi.org/10.1177/0959651817735777
dc.identifier.urihttps://hdl.handle.net/11411/8001
dc.identifier.volume232en_US
dc.identifier.wosWOS:000418658100007en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherSage Publications Ltden_US
dc.relation.ispartofProceedings of The Institution of Mechanical Engineers Part I-Journal of Systems and Control Engineeringen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectBilateral Controlen_US
dc.subjectTeleoperationen_US
dc.subjectCommunication Delayen_US
dc.subjectDisturbance Observeren_US
dc.subjectSmith Predictoren_US
dc.subjectModel Tracking Controlen_US
dc.subjectTime-Delayen_US
dc.subjectCommunicationen_US
dc.subjectNetworken_US
dc.subjectSystemen_US
dc.subjectDesignen_US
dc.titleImproved bilateral teleoperation with proactive haptic sensing and transmissionen_US
dc.typeArticleen_US

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