Compliance control using MR actuation for effective placement/removal of explosives in mining

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teleoperator systems. In teleoperator systems, force reflection (Haptic) provides important cues and enables the user to feel the interaction with a remote or virtual environment during teleoperation. However, in today's force-reflecting teleoperator systems, the dexterity of teleoperator systems for task execution, even in the most advanced systems, cannot be matched with the dexterity of the human hands. Two major roadblocks in achieving high-performance teleoperations are (a) the limitations of conventional actuators (e.g., servomotors) in performing compliant actuation, and (b) communication delays. The main objective of this study is to demonstrate the advantages that MR devices can offer to improve the fidelity of the force reflection (transparency) while enhancing the system performance (stability).