Model predictive energy-bounding approach for the perception of multiple degree-of-freedom objects in bilateral teleoperation with online geometry and parameter of remote environment: A feasibility test

This paper presents a feasibility of model predictive energy-bounding approach (EBA) for multiple degree-of-freedom (m-DOF) bilateral teleoperation with adaptive information of slave site. The idea uses model-based prediction of m-DOF slave site dynamic parameter and geometry adaptively on the master site. In this regards, the non-delayed feedback force is obtained from updated dynamic model (of slave site) at master site by knowing the stiffness and geometry and then the force obtained from this model is robustly stabilized by EBA at master side before presented it to the human operator. The significance of the proposed approach is shown with the 3-DOF circularly-engraved environment via real experimentation with force-controlled master and position-controlled slave.