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A large number of bilateral teleoperation control architectures in the literature have been designed based on assumed impedance models of the master and slave manipulators. However, hydraulic or heavily geared and many other manipulators cannot be properly described by impedance models. In this paper, a common four-channel bilateral control architecture… (More)
Online estimates of unknown environment dynamics are used for the control of robotic contact tasks. The Hunt-Crossley nonlinear dynamic model of environments has been shown to be more consistent with the physics of contact, compared to the classical linear models, such as Kelvin-Voigt. This paper proposes a new method for online parameter estimation of… (More)
This paper proposes a novel four-channel multilateral shared control architecture for dual-user teleoperation systems. The proposed control architecture is designed to allow interaction between two users as well as slave and environment through a dominance factor. The dominance factor adjusts the authority of the users over the slave robot and the task. To… (More)
A position-based impedance controller has been implemented on a mini-excavator. Its performance and an approach t o e v aluate its stability robustness for given environment impedances are discussed. A dual hybrid teleoperation controller is proposed for machine control. Issues of transparency are discussed.
In many studies and applications that include direct human involvement such as human-robot interaction, control of prosthetic arms, and human factor studies, hand force is needed for monitoring or control purposes. The use of inexpensive and easily portable active electromyogram (EMG) electrodes and position sensors would be advantageous in these… (More)
3D registration of ultrasound images is an important and fast-growing research area with various medical applications, such as image-guided radiotherapy and surgery. However, this registration process remains extremely challenging due to the deformation of soft tissue and the existence of speckles in these images. This paper presents a technique for… (More)