Kinesthetic performance analysis of asymmetric dual-user shared teleoperation system

Different from traditional symmetric dual-user shared control method, a novel dual-user teleoperation system asymmetric shared control method is proposed. The asymmetric architecture contains three dominance factors-one affects the control authority and the other two ones balance the effect of transparency and movement tracking performance of the masters. The main sections conclude the properties of kinesthetic performance of the asymmetric dual-user shared control structures that are different from the traditional system, which are evaluated by several measuring functions. Experiments are taken to verify the conclusions, and the results represent that the performance range and best kinesthetic performance of asymmetric architecture are wider and superior than the ones of traditional method. In addition, the masters have more autonomy during the manipulating process.