Theoretical and experimental overview of bilateral teleoperation control laws

@article{Marcassus2006TheoreticalAE,
  title={Theoretical and experimental overview of bilateral teleoperation control laws},
  author={Nicolas Marcassus and A. Chriette and Maxime Gautier},
  journal={2006 14th Mediterranean Conference on Control and Automation},
  year={2006},
  pages={1-6}
}
This paper presents the application and the comparison of bilateral teleoperation laws applied on a device made of two industrial systems equipped with force sensors. Theoretical study of these kinesthetic couplings were carried on and experimental results are presented showing forces interactions during movements. A poor connection is found between the accuracy of the force sensor and the quality of the haptic feedback