After a Decade of Teleimpedance: A Survey

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...

Binary and Hybrid Work-Condition Maps for Interactive Exploration of Ergonomic Human Arm Postures

Ergonomics of human workers is one of the key elements in design and evaluation of production processes. Human ergonomics have a major impact on productivity as well as chronic health risks incurred by inappropriate working postures and conditions. In this paper we propose a novel method for estimating and communicating the ergonomic work...

Analysis of Coupling Effect in Human-Commanded Stiffness During Bilateral Tele-Impedance

Tele-impedance augments classic teleoperation by enabling the human operator to actively command remote robot stiffness in real-time, which is an essential ability to successfully interact with the unstructured and unpredictable environment. However, the literature is missing a study on benefits and drawbacks of different types of stiffness...