Dual-User Teleoperation Systems: New Multilateral Shared Control Architecture and Kinesthetic Performance Measures

@article{Khademian2012DualUserTS,
  title={Dual-User Teleoperation Systems: New Multilateral Shared Control Architecture and Kinesthetic Performance Measures},
  author={Behzad Khademian and Keyvan Hashtrudi-Zaad},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2012},
  volume={17},
  pages={895-906}
}
This paper proposes a novel six-channel multilateral shared control architecture for dual-user teleoperation systems. The proposed controller allows interaction between two users as well as the slave and environment through a dominance factor. The dominance factor adjusts the authority of the users over the slave robot and environment. The proposed controller is implemented on a haptic simulation test bed consisting of two planar twin pantograph haptic devices and a simulated pantograph as the… CONTINUE READING
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