After a Decade of Teleimpedance

After a Decade of Teleimpedance: A Survey

Peternel, L. (TU Delft Human-Robot Interaction)
Ajoudani, Arash (Istituto Italiano di Tecnologia)

2023

Despite the significant progress made in making robots more intelligent and autonomous, today, teleoperation remains a dominant robot control paradigm for the execution of complex and highly unpredictable tasks. Attempts have been made to make teleoperation systems stable, easy to use, and efficient in terms of physical interactions between the follower remote robot and the environment. In particular, the emergence of torque-controlled robots has permitted to regulate the interaction forces from a distance through direct force or impedance control, enabling them to engage in complex interaction tasks. Exploiting this feature, the concept of teleimpedance control was introduced as an alternative method to bilateral force-reflecting teleoperation. The aim was to create a feed-froward yet contact-efficient teleoperation by enriching the leader commands with desired impedance profiles while executing a task. Since then, the teleimpedance concept has found its way into a wide range of interface and controller designs, as well as application domains. Accordingly, after a decade of research progress, this survey aims to provide: first, a convenient introduction of the concept to new researchers in the field, second, consolidate the existing state-of-the-art for active researchers, third, and discuss the pros and cons of different methods in terms of interface and force feedback to provide guidelines for different applications and future developments.

Force feedback
impedance control
stiffness command interface
teleimpedance
teleoperation

http://resolver.tudelft.nl/uuid:5fcc495e-51aa-4037-8414-ae76843b5352

https://doi.org/10.1109/THMS.2022.3231703

2023-06-30

2168-2291

IEEE Transactions on Human-Machine Systems, 53 (2), 401-416

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

review

© 2023 L. Peternel, Arash Ajoudani