Kim, Keehoon Chung, Wan Kyun Cavusoglu, M. Cenk 2024-01-20T20:33:46Z 2024-01-20T20:33:46Z 2021-09-04 2009-10 1552-3098 https://pubs.kist.re.kr/handle/201004/132114 This paper investigates a novel position-sensor-based force reflection framework for multi-degree-of-freedom (DOF) bilateral teleoperation systems in unstructured environments. The conventional position-sensor-based force reflection method, which is known as position error feedback, may generate grossly inaccurate force reflection directions during collisions involving the slave manipulator links. The proposed restriction space projection framework calculates the instantaneous restriction space to provide the accurate force reflection, regardless of kinematic dissimilarity (KDS) conditions of bilateral teleoperation systems. Simulation results confirmed the validity of the proposed framework in a KDS bilateral teleoperation system under various constraint conditions. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC TIME-DELAY DESIGN Description of Instantaneous Restriction Space for Multi-DOFs Bilateral Teleoperation Systems Using Position Sensors in Unstructured Environments Article 10.1109/TRO.2009.2024789 1 IEEE TRANSACTIONS ON ROBOTICS, v.25, no.5, pp.1150 - 1158 IEEE TRANSACTIONS ON ROBOTICS 25 5 1150 1158 scie scopus 000270549300014 2-s2.0-70350235200 Robotics Robotics Article TIME-DELAY DESIGN Bilateral teleoperation system haptic interface instantaneous restriction space (IRS) obstacle avoidance restriction space projection (RSP)