Adaptive impedance control in haptic teleoperation to improve transparency under time-delay

  title={Adaptive impedance control in haptic teleoperation to improve transparency under time-delay},
  author={Costas S. Tzafestas and Spyros Velanas and George Fakiridis},
  journal={2008 IEEE International Conference on Robotics and Automation},
This paper proposes the application of an adaptive impedance control scheme to alleviate some of the problems associated with the presence of time delays in a haptic teleoperation system. Continuous on-line estimation of the remote environment's impedance is performed, and is then used as a local model for haptic display control. Lyapunov stability of the proposed impedance adaptation law is demonstrated. A series of experiments is performed to evaluate the performance of this teleoperation… CONTINUE READING
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