A Dual-user Teleoperation System with Adaptive Authority Adjustment for Haptic Training

Abstract : This paper presents a shared control based dual-user teleoperation haptic training system. The main contribution is an Adaptive Authority Adjustment (AAA). The authority is detemined online according to the trainee’s behavior performance. An evaluation method is introduced based on an adaptive virtual boundary, which results into a time-varing dominance factor. An overruling function is set upstream to solve some specific cases. The system is modeled and controled in port-Hamiltonian form for passivity preserving. Experiments are conducted for validation.
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Fei Liu, Arnaud Lelevé, Damien Eberard, Tanneguy Redarce. A Dual-user Teleoperation System with Adaptive Authority Adjustment for Haptic Training. MESROB 2015, Jul 2015, Nantes, France. ⟨hal-01199674⟩

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