Force reflection algorithms for networked bilateral teleoperators and haptic interfaces

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Force-reflecting teleoperation and haptic interaction with objects in virtual environment are two related areas of technology which have numerous applications to manufacturing, robotic surgery, health care and rehabilitation, education, search and rescue robotics, and other areas. The proposed project aims at development of new schemes for networked force-reflecting teleoperators and haptic displays that are built upon the principle of projection-based force reflection. This principle assumes decomposition of the force reflection term into ``interaction'' and ``momentum-generating'' components and subsequent attenuation of the latter. It was previously demonstrated that application of this principle to the design of force-reflecting teleoperators in the presence of network-induced communication constraints leads to substantial improvement in stability and performance characteristics. The long-term objective of this project can be defined as comprehensive development of the principle of projection-based force reflection and its application to the design of networked force-reflecting teleoperators and haptic interfaces. More specific goals will include elaboration and justification of the projection-based force reflection principle, development of new projection-based force reflection algorithms, their experimental evaluation and comparison, and applications to the design of new schemes and algorithms for cooperative force-reflecting teleoperation over networks and for haptic interaction with objects in virtual environments.