Cited 9 time in webofscience Cited 10 time in scopus

Telepresence Index for Bilateral Teleoperations

Title
Telepresence Index for Bilateral Teleoperations
Authors
Chang, Pyung HunKim, Jong Hyun
DGIST Authors
Chang, Pyung Hun; Kim, Jong Hyun
Issue Date
2012-02
Citation
IEEE Transactions on Systems Man and Cybernetics Part B: Cybernetics, 42(1), 81-92
Type
Article
Article Type
Article
Keywords
AlgorithmAlgorithmsBilateral ControlBilateral TeleoperationComprehensive PerformanceComputer SimulationControl ArchitectureDelay Control SystemsError Vector MagnitudeFeedbackFeedback SystemKinematic Correspondence (KC)KinematicsMan-Machine SystemsMan Machine InteractionMethodologyModels, TheoreticalPerformance EvaluationPerformance IndexPerformance IndicesPerformance ObjectivePhase ErrorRemote ControlTele-OperationsTelemetryTelepresenceTheoretical ModelTime DelayTransparencyTransparency (TP)Visual Communication
ISSN
1083-4419
Abstract
This paper proposes a performance index called telepresence index for bilateral teleoperation, which can be used both for the performance evaluation of bilateral control architectures and for design purposes. This index is intended to represent a comprehensive performance objective consisting of transparency and kinematic correspondence, which are two major performance objectives of bilateral teleoperation. In order to quantify the performance objective, telepresence index has employed the error vector magnitude, which enables a seamless combination of magnitude and phase errors and the accommodation of time delay. In comparison with existing performance indices, it was observed that telepresence index possesses the comprehensiveness of performance objectives, magnitude/phase integrity, and the capacity to include time delay, which the others lack in one way or another. The index was applied to evaluate the performances of two widely known control architectures: PD-type bilateral control and Ueda's ideal control. In all cases, telepresence index has been compared favorably with the other indices in terms of clarity, convenience, and accuracy, thereby demonstrating its superiority. © 2011 IEEE.
URI
http://hdl.handle.net/20.500.11750/5367
DOI
10.1109/TSMCB.2011.2160849
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Kim, Jong Hyun REL(Rehabilitation Engineering Laboratory)
  • Research Interests Rehabilitation engineering; Robotics; Nonlinear control
Files:
There are no files associated with this item.
Collection:
Department of Robotics EngineeringRehabilitation Robotics Lab1. Journal Articles
Department of Robotics EngineeringREL(Rehabilitation Engineering Laboratory)1. Journal Articles


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