We propose an alternative control algorithm for a scaled telemanipulation system using the task-oriented virtual tool dynamics. The aim of the proposed virtual tool approach is to realize the ideal relationship for the human-oriented collaboration between a human operator and a controlled robot in a human-robot environment system. In the proposed cooperative system, a telemanipulator is controlled so that it has semi-autonomous virtual tool dynamics designed appropriately for a given task. It assists a human operator semi-autonomously during the task as if it were a real mechanical tool and improves the maneuverability and the efficiency in the teleoperation. The stability is analyzed based on the passivity of the resultant system, and the total stability is guaranteed for a human operator and a passive environment with unknown dynamics. The algorithm is experimentally applied to a telemanipulator. The results illustrate the validity of the system.
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