Telemanipulators with Sensor/Actuator Asymmetries Fail the Robustness Criterion

Abstract

Force reflection in telemanipulators can be challenging and costly, often prohibitively so. By reducing the number of sensors and actuators used in the telemanipulator and providing the user only partial force feedback, cost and performance concerns can be optimized. While partial force feedback is beneficial practically, it creates a sensor/actuator… (More)
DOI: 10.1109/HAPTICS.2008.4479955

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