Bilateral teleoperation system and control method

A bilateral teleoperation system control method, the method comprising:

• collecting, by a first controller, at least one of motion information of a primary-end mechanical arm of a primary-end operation platform controlled by an operator of a bilateral teleoperation system and motion information of a mechanical hand control assembly of the primary-end operation platform controlled by the operator, wherein the primary-end operation platform further comprises (i) an annular tactile sensor connected to the first controller and (ii) a primary-end torque sensor connected to the first controller to the first controller;
• predicting, by the first controller, the motion information of the operator based jointly on motion direction information transferred from the annular tactile sensor and motion torque information transferred from the primary-end torque sensor;
• transmitting, by the first controller, the motion information or a control instruction to a second controller of a secondary-end operation platform of the bilateral teleoperation system, the control instruction being generated based on the motion information;
• controlling, by the second controller according to the motion information or the control instruction, the secondary-end operation platform to perform motion corresponding to the motion information, the motion being performed by at least one of a secondary-end mechanical arm and a secondary-end mechanical hand, wherein the primary-end mechanical arm and the secondary-end mechanical arm are homogeneous mechanical arms with seven degrees of freedom and the secondary-end mechanical arm is configured to move with the same number of degree of freedom as the primary-end mechanical arm according to the motion information or the control instruction;
• collecting, by the second controller through a binocular vision camera connected to the second controller, vision feedback information of the secondary-end operation platform, wherein the vision feedback information comprises external image information of the secondary-end operation platform perceived by the binocular vision camera;
• transmitting, by the second controller, the vision feedback information to the first controller;
• and
• displaying, by the first controller through a pair of virtual-reality glasses connected to the second controller, the vision feedback information to an operator of the bilateral teleoperation system wearing the pair of virtual-reality glasses.

A non-transitory computer-readable storage medium, storing a computer program, the computer program, when executed by one or more processors of an electronic device, cause the one or more processors to perform operations comprising:

• collecting, by a first controller, at least one of motion information of a primary-end mechanical arm of a primary-end operation platform controlled by an operator of a bilateral teleoperation system and motion information of a mechanical hand control assembly of the primary-end operation platform controlled by the operator, wherein the primary-end operation platform further comprises (i) an annular tactile sensor connected to the first controller and (ii) a primary-end torque sensor connected to the first controller to the first controller;
• predicting, by the first controller, the motion information of the operator based jointly on motion direction information transferred from the annular tactile sensor and motion torque information transferred from the primary-end torque sensor;
• transmitting, by the first controller, the motion information or a control instruction to a second controller of a secondary-end operation platform of the bilateral teleoperation system, the control instruction being generated based on the motion information;
• controlling, by the second controller according to the motion information or the control instruction, the secondary-end operation platform to perform motion corresponding to the motion information, the motion being performed by at least one of a secondary-end mechanical arm and a secondary-end mechanical hand, wherein the primary-end mechanical arm and the secondary-end mechanical arm are homogeneous mechanical arms with seven degrees of freedom and the secondary-end mechanical arm is configured to move with the same number of degree of freedom as the primary-end mechanical arm according to the motion information or the control instruction;
• collecting, by the second controller through a binocular vision camera connected to the second controller, vision feedback information of the secondary-end operation platform, wherein the vision feedback information comprises external image information of the secondary-end operation platform perceived by the binocular vision camera;
• transmitting, by the second controller, the vision feedback information to the first controller;
• and
• displaying, by the first controller through a pair of virtual-reality glasses connected to the second controller, the vision feedback information to an operator of the bilateral teleoperation system wearing the pair of virtual-reality glasses.