Unlimited Workspace - Coupling a Mobile Haptic Interface with a Mobile Teleoperator

  • Thomas Schauß
  • Ulrich Unterhinninghofen
  • Martin Buss
Part of the Cognitive Systems Monographs book series (COSMOS, volume 6)


A teleoperation system extends cognitive and manipulatory skills of a human to a remote site. Hereby, the dimensions of the haptic interfaces and telemanipulators typically limit the achievable workspace. In some application scenarios, however, an unrestricted workspace is desirable. Therefore, we develop and discuss two different coupling schemes for a wide-area teleoperation system. The schemes are implemented on a complex system composed of two haptic interfaces and two telemanipulator arms mounted on mobile bases. Aside from haptic feedback also visual and acoustic feedback are presented in an appropriate way. Experiments show the benefits and drawbacks of the different schemes, and conclusions on appropriate coupling schemes for different circumstances are given.


Coupling Scheme Haptic Interface Mobile Base Operator Body Slave Side 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Thomas Schauß
    • 1
  • Ulrich Unterhinninghofen
    • 1
  • Martin Buss
    • 1
  1. 1.Institute of Automatic Control EngineeringTechnische Universität MünchenMünchenGermany

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