Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures

We present a novel bilateral telemanipulation control system called Pseudo-admittance, which is designed to mimic admittance con trol on systems where the master is an impedance-type robot. Desirable system properties include steady-hand tremor attenuation and quasi-static transparency. The controller can also be modified to include virtual fixtures that provide guidance, while leaving ultimate control of the system with the operator. The properties of the system are verified through simulations and experiments. Pseudo-admittance control has potential benefits for tasks that require better-than-human levels of precision, as well as with systems which are typically run under rate control. Guidance virtual fixtures could be used as task macros – potentially increasing both speed and precision on structured tasks that require direct human control.