Conference Proceedings

Transparency optimized interaction in telesurgery devices via time-delayed communications

A Mahdizadeh, MA Nasseri, A Knoll

IEEE Haptics Symposium, HAPTICS | Published : 2014


Low transparency is one of the major drawbacks of passivity-based control approaches in teleoperation systems, particularly when time delay exists in the communication channel. In this work, we improved the transparency of time-delayed teleoperation. For this, we used a passivity-based control approach with the generalized scattering transformation. To maximize a transparency criterion, the parameters of the generalized scattering transformation were optimized. Moreover, we show that communication channel disturbance attenuation is also improved. The proposed approach is validated on a master-slave robot interacting with an human eyeball model via a time delayed communication. Two classes of..

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University of Melbourne Researchers

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