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A Dual-user Teleoperation System with Online Authority Adjustment for Haptic Training
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.
Cited literature [14 references]
https://hal.archives-ouvertes.fr/hal-01199676
Contributor : Arnaud Leleve Connect in order to contact the contributor
Submitted on : Thursday, January 28, 2016 - 10:03:31 AM
Last modification on : Monday, September 13, 2021 - 2:44:03 PM
Long-term archiving on: : Friday, April 29, 2016 - 10:15:38 AM
Contributor : Arnaud Leleve Connect in order to contact the contributor
Submitted on : Thursday, January 28, 2016 - 10:03:31 AM
Last modification on : Monday, September 13, 2021 - 2:44:03 PM
Long-term archiving on: : Friday, April 29, 2016 - 10:15:38 AM
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EMBC15-for-HAL.pdf
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