Operation Status of Teleoperator Based Shared Control Telerobotic System
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(2021) 101:8
Operation Status of Teleoperator Based Shared Control Telerobotic System Shuang Liu 1 & Shulei Yao 1
&
Guodong Zhu 1 & Xiancheng Zhang 1 & Runhuai Yang 2
Received: 23 February 2020 / Accepted: 9 November 2020 # Springer Nature B.V. 2020
Abstract Telerobotic system is a typical human-machine system. The operation results not only depend on the performance of machine, but also the status of teleoperators (SoT). However, existing telerobotic systems scarcely consider the impact of teleoperators. This paper proposes a method for the online identification of the SoT and incorporates it to a shared control telerobotic system. First, some mental indicators are obtained based on Electroencephalogram during teleoperations. The relationship between the SoT and mental indicators is then established by a neural network. The online SoT identification is further implemented on a mobile telerobotic system. Second, a SoT based shared control framework is proposed in telerobotic system. The SoT is designed to dynamically adjust the control weight of the shared controller. Finally, comparative experiments are performed between a sensor based shared control method and the SoT based shared control method. The result validates the effectiveness of the proposed SoT based shared control method in telerobotic system. Keywords Status of teleoperator . Shared control . Backpropagation neural network . Telerobotic system
1 Introduction The telerobotic system is a typical human-machine system, it refers to robotics with a human operator in control or humanin-the-loop [1]. The telerobotic system has been developed for decades due to its widespread applications in various fields, such as space exploration, deep sea exploration, remote surgery, and hazardous material handling [2]. An intelligent remote robot should understand teleoperator’s status and take proper actions to cooperate with the operator, since the result of the teleoperation mainly depends on the teleoperator in such a system. The research of teleoperator’s operation status should thus draw more attention in the development of the telerobotic system. However, few studies focus on the status evaluation of teleoperator [3, 4]. Most existing researcher have only focused on the stability and transparency of the telerobotic system [5]. The former * Runhuai Yang [email protected] 1
School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, People’s Republic of China
2
Department of Biomedical Engineering, Anhui Medical University, Hefei 230032, People’s Republic of China
issue is to solve the stability problem caused by time delay, dynamic uncertainty or other disturbances [6], when the slave contacts with objects. A novel robust fixed-structure controller for uncertain bilateral teleoperation system is proposed in [7, 8] to cope with time delay. The latter issue is to improve the matching degree of impedance between the operator and environment [9, 10]. Existing methods of teleoperator status identification
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