Telepresence and stability analysis for haptic tele-manipulation with short time delay

Abstract

This paper discusses the design of a telemanipulation system for haptic telepresence using Kalman active observers (AOBs). A robotic manipulator is controlled by the human operator through a haptic device. Free space, contact and impact experiments are presented, highlighting the capabilities of compliant motion control with AOBs. Telepresence and stability are analyzed taking into account the control design, the system stiffness and a spring-damper-mass model of the human arm. Haptic manipulation experiments on soft and hard surfaces are presented.