Time-Delayed Output Feedback Bilateral Teleoperation With Force Estimation for $n$ -DOF Nonlinear Manipulators

This brief presents a novel bilateral teleoperation algorithm for n degree of freedom nonlinear manipulators connected through time delays. Central to this approach is the use of second-order sliding mode unknown input observers for estimating the external forces, removing the need for both velocity and force sensors. This leads to a lower-cost hardware setup that provides all of the advantages of a position-force teleoperation algorithm. Stability is guaranteed considering the presence of time delays. Numerical and experimental results are presented.