Performance evaluation of bilateral micro-teleoperation systems based on man-machine dynamic characteristics

In micro-teleoperation, where the master and the slave physical characteristics differ from each other, how to scale up and down the contact force and the motion command is a crucial problem. Some scaling methods have been proposed but how they affect the human operator is still an unsolved problem. The evaluation of the scaling gains should consider also the dynamic characteristics of the human operator, since he/she is inside the control loop and is responsible for the command input. In this paper, the performance of a micro-teleoperation system was evaluated based on man-machine dynamic characteristics in both visual and force control tasks.