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

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.

Mots clés: Haptics; Hands-On Training; Robotics; Dual User Teleoperation; Medical Robotics

Domaines: Automatique / Robotique

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⟩