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New Trends in Medical and Service Robots pp 165–177Cite as

A Dual-User Teleoperation System with Adaptive Authority Adjustment for Haptic Training

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 39))

Abstract

This paper presents a shared control based dual-user teleoperation haptic training system. The main contribution is an Adaptive Authority Adjustment (AAA). The authority is determined on-line according to the trainee’s behavior performance. An evaluation method is introduced based on an adaptive virtual boundary, which results into a time-varing dominance factor. An overruling function is set upstream to solve some specific cases. The system is modeled and controled in port-Hamiltonian form for passivity preserving. Experiments are conducted for validation.

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Acknowledgments

The authors acknowledge the financial support of the China Scholarship Council (CSC) Scholarship.

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Authors and Affiliations

  1. Université de Lyon, INSA de Lyon, Laboratoire Ampère (UMR 5005), F-69621, LYON, France

    Fei Liu, Arnaud Lelevé, Damien Eberard & Tanneguy Redarce

Authors
  1. Fei Liu
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  2. Arnaud Lelevé
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  3. Damien Eberard
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  4. Tanneguy Redarce
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Corresponding author

Correspondence to Fei Liu .

Editor information

Editors and Affiliations

  1. Ecole Centrale de Nantes 1, Institut de Recherche en Communications, Nantes Cedex 03, France

    Philippe Wenger

  2. Ecole Centrale de Nantes 1, Inst Rec Comm Cybernetique Nantes, Nantes cedex 3, France

    Christine Chevallereau

  3. Research Center for Industrial Robo, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Doina Pisla

  4. IMT - LSRO1, EPFL, Lausanne, Switzerland

    Hannes Bleuler

  5. Robotics Laboratory, Mihajlo Pupin Institute, Belgrade, Serbia

    Aleksandar Rodić

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© 2016 Springer International Publishing Switzerland

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Liu, F., Lelevé, A., Eberard, D., Redarce, T. (2016). A Dual-User Teleoperation System with Adaptive Authority Adjustment for Haptic Training. In: Wenger, P., Chevallereau, C., Pisla, D., Bleuler, H., Rodić, A. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 39. Springer, Cham. https://doi.org/10.1007/978-3-319-30674-2_13

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  • DOI: https://doi.org/10.1007/978-3-319-30674-2_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-30673-5

  • Online ISBN: 978-3-319-30674-2

  • eBook Packages: EngineeringEngineering (R0)

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