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

Fei Liu 1 Arnaud Lelevé 1 Damien Eberard 1 Tanneguy Redarce 1
1 MIS - Ampère, Département Méthodes pour l'Ingénierie des Systèmes
Abstract : This paper introduces a dual-user teleoperation system for hands-on medical training. A shared control based architecture is presented for authority management. In this structure, the combination of control signals is obtained using a dominance factor. Its main improvement is Online Authority Adjustment (OAA) : the authority can be adjusted manually/automatically during the training progress. Experimental results are provided to validate the performances of the system.
Keywords : Dual User Teleoperation Medical Robotics Robotics Haptics Hands-On Training
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Conference papers
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Fei Liu, Arnaud Lelevé, Damien Eberard, Tanneguy Redarce. A Dual-user Teleoperation System with Online Authority Adjustment for Haptic Training. 37th IEEE EMBC, IEEE Engineering in Medecine and Biology Society, Aug 2015, Milan, Italy. ⟨10.1109/EMBC.2015.7318574⟩. ⟨hal-01199676⟩

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