Authors

Fei Liu, Arnaud Lelevé, Damien Eberard, Tanneguy Redarce

Abstract

This paper presents a shared control based dual-user teleoperation haptic training system. The main contribution is an Adaptive Authority Adjustment (AAA). The authority is determined on-line according to the trainee’s behavior performance. An evaluation method is introduced based on an adaptive virtual boundary, which results into a time-varing dominance factor. An overruling function is set upstream to solve some specific cases. The system is modeled and controled in port-Hamiltonian form for passivity preserving. Experiments are conducted for validation.

Keywords

Dual-user teleoperation; Port-Hamiltonian; Adaptive Authority Adjustment (AAA); Shared control

Citation

BibTeX

@inbook{Liu_2016,
  title={{A Dual-User Teleoperation System with Adaptive Authority Adjustment for Haptic Training}},
  ISBN={9783319306742},
  ISSN={2211-0992},
  DOI={10.1007/978-3-319-30674-2_13},
  booktitle={{New Trends in Medical and Service Robots}},
  publisher={Springer International Publishing},
  author={Liu, Fei and Lelevé, Arnaud and Eberard, Damien and Redarce, Tanneguy},
  year={2016},
  pages={165--177}
}

Download the bib file

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