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Article: Quality of teleoperator adaptive control for telerobotic operations

TitleQuality of teleoperator adaptive control for telerobotic operations
Authors
Keywordstelerobotic operations
adaptation
Quality of teleoperator (QoT)
Issue Date2014
Citation
International Journal of Robotics Research, 2014, v. 33, n. 14, p. 1765-1781 How to Cite?
Abstract© 2014 The Author(s). Extensive studies have been conducted on telerobotic operations for decades due to their widespread applications in a variety of areas. Most studies have been focused on two major issues: stability and telepresence. Few have studied the influence of the operation status of the teleoperator on the performance of telerobotic operations. As subnormal operation status of the teleoperator may result in insufficient and even incorrect operations, the quality of teleoperator (QoT) is an important impact on the performance of the telerobotic operations in terms of the efficiency and safety even if both the stability and telepresence are guaranteed. Therefore, this paper investigates the online identification of the QoT and its application to telerobotic operations. The QoT is identified based on five QoT indicators which are generated based on the teleoperator's brain EEG signals. A QoT adaptive control method is designed to adapt the velocity and responsivity of the robotic system to the operation status of the teleoperator such that the teleoperation efficiency and safety can be enhanced. The online QoT identification method was conducted on various teleoperators and the QoT adaptive control method was implemented on a mobile manipulator teleoperation system. The experimental results demonstrated the effectiveness and advantages of the proposed methods.
Persistent Identifierhttp://hdl.handle.net/10722/213442
ISSN
2015 Impact Factor: 2.489
2015 SCImago Journal Rankings: 4.184

 

DC FieldValueLanguage
dc.contributor.authorJia, Yunyi-
dc.contributor.authorXi, Ning-
dc.contributor.authorLiu, Shuang-
dc.contributor.authorWang, Yunxia-
dc.contributor.authorLi, Xin-
dc.contributor.authorBi, Sheng-
dc.date.accessioned2015-07-28T04:07:18Z-
dc.date.available2015-07-28T04:07:18Z-
dc.date.issued2014-
dc.identifier.citationInternational Journal of Robotics Research, 2014, v. 33, n. 14, p. 1765-1781-
dc.identifier.issn0278-3649-
dc.identifier.urihttp://hdl.handle.net/10722/213442-
dc.description.abstract© 2014 The Author(s). Extensive studies have been conducted on telerobotic operations for decades due to their widespread applications in a variety of areas. Most studies have been focused on two major issues: stability and telepresence. Few have studied the influence of the operation status of the teleoperator on the performance of telerobotic operations. As subnormal operation status of the teleoperator may result in insufficient and even incorrect operations, the quality of teleoperator (QoT) is an important impact on the performance of the telerobotic operations in terms of the efficiency and safety even if both the stability and telepresence are guaranteed. Therefore, this paper investigates the online identification of the QoT and its application to telerobotic operations. The QoT is identified based on five QoT indicators which are generated based on the teleoperator's brain EEG signals. A QoT adaptive control method is designed to adapt the velocity and responsivity of the robotic system to the operation status of the teleoperator such that the teleoperation efficiency and safety can be enhanced. The online QoT identification method was conducted on various teleoperators and the QoT adaptive control method was implemented on a mobile manipulator teleoperation system. The experimental results demonstrated the effectiveness and advantages of the proposed methods.-
dc.languageeng-
dc.relation.ispartofInternational Journal of Robotics Research-
dc.subjecttelerobotic operations-
dc.subjectadaptation-
dc.subjectQuality of teleoperator (QoT)-
dc.titleQuality of teleoperator adaptive control for telerobotic operations-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1177/0278364914556124-
dc.identifier.scopuseid_2-s2.0-84914115230-
dc.identifier.volume33-
dc.identifier.issue14-
dc.identifier.spage1765-
dc.identifier.epage1781-
dc.identifier.eissn1741-3176-

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