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.
https://hal.archives-ouvertes.fr/hal-01199674
Contributor : Arnaud Leleve
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Submitted on : Monday, February 15, 2016 - 2:10:13 PM
Last modification on : Friday, February 14, 2020 - 2:31:11 PM
Long-term archiving on: Monday, May 16, 2016 - 10:08:46 AM
