A Human-to-human Force-reflecting Teleoperation System Using Fuzzy Logic Controller Tuning

摘要

A new application of teleoperation is to provide the sense of force to human-to-human interaction over computer networks. This is also known as Telehaptics. To lower the cost of such systems, position errors instead of direct force/torque measurements can be used for feedback. To improve the performance in terms of transparency, it is desirable to adjust the position controller gains on-line. In this paper, fuzzy logic is applied to the on-line controller tuning, based on the detection of changes in the dynamics, using power and inertia information. With this method, the communication between two users with force feedback becomes more transparent and natural.