Tele-impedance: Teleoperation with impedance regulation using a body–machine interface

@article{Ajoudani2012TeleimpedanceTW,
  title={Tele-impedance: Teleoperation with impedance regulation using a body–machine interface},
  author={Arash Ajoudani and Nikolaos G. Tsagarakis and Antonio Bicchi},
  journal={The International Journal of Robotics Research},
  year={2012},
  volume={31},
  pages={1642 - 1656}
}
This work presents the concept of tele-impedance as a method for remotely controlling a robotic arm in interaction with uncertain environments. As an alternative to bilateral force-reflecting teleoperation control, in tele-impedance a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller without explicit feedback to the operator. We derive the reference command from a novel body… 

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