Time-delayed teleoperation: Combining haptic data reduction with stabilizing control approaches

A bilateral haptic teleoperation system operated with the delays of 0 ms, 200 ms, and 500 ms. The master device is the Omega.6. The slave robot is the KUKA light-weight arm. A perceptual-deadband-based haptic data reduction scheme is integrated into the time-domain passivity approach. This is able to reduce the haptic data packets transmitted over the network while guaranteeing system stability in the presence of communication delay.
(Reference DOI: http://dx.doi.org/10.1109/TOH.2016.25...)