Haptic Communication for Time-delayed Teleoperation

This work investigates the combination of haptic data communication and stability-ensuring control schemes for time-delayed teleoperation over packet-switched networks. In the first contribution, the perceptual deadband-based haptic data reduction method (PD method) is combined with the time domain passivity approach. The resulting scheme achieves a strong data reduction while ensuring system stability. In the second contribution, a modified PD method is combined with an extended model-mediated teleoperation method, which can handle objects with complex surface geometry.