A teleoperation platform for networked home healthcare robotic system over the Internet

摘要

A teleoperation platform for networked home healthcare robotic system over the Internet is presented. In particular, we introduce a novel adaptive control scheme to deal with time-varying Internet delays. The control scheme is based on a hierarchical decomposition and dynamic allocation of tasks between the human operator and robot's on-board controller. The experimental results show the feasibility of the control scheme and confirm the concepts.