A Dual-user Teleoperation System with Online Authority Adjustment for Haptic Training
Abstract
This paper introduces a dual-user teleoperation system for hands-on medical training. A shared control based architecture is presented for authority management. In this structure, the combination of control signals is obtained using a dominance factor. Its main improvement is Online Authority Adjustment (OAA) : the authority can be adjusted manually/automatically during the training progress. Experimental results are provided to validate the performances of the system.
Domains
Automatic
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