Haptic assistance improves tele-manipulation with two asymmetric slaves

Tele-manipulation of heavy loads typically requires the simultaneous use of two asymmetric slaves: a crane for vertical weight support; and a robot for accurate lateral positioning. The industrial standard prescribes a pair of operators for such tasks (one operator to control each slave), although in principle one operator might control both...

Robustness of Haptic Shared Control Against Model Inaccuracies During Telemanipulation

To improve teleoperated task performance and control effort, haptic shared control can assist the human operator along a safe and optimal path with continuous guiding forces from an automated controller. But previous research tested such shared control on tasks that were accurately defined in the controller (giving flawless guiding forces),...