High frequency feedback in telerobotics
AssigneeThe Board of Trustees of the Leland Stanford Junior University
InventorsGunter Niemeyer, Neal A. Tanner
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Abstract
Telerobotic systems with integrated high frequency feedback to enhance users' telerobotic experience are provided. The controller of the telerobotic system is characterized by combining high frequency information with low frequency position or velocity information. The controller is useful for teleoperations with delay and no-delay between the communication channels of the master and slave device.
Claims5
A telerobotics system having a master device (m), a slave device (s) and a wave controller interfacing said master (m) and said slave device (s), wherein said wave controller is characterized by the methods steps, comprising:
- (a) said wave controller transmitting an incoming wave command (Us) to said slave device (s);
- (b) said wave controller producing a wave information (Vs) by combining said incoming wave command (Us) with received position (Xs) or velocity information ({dot over (X)}s) from said slave device (s);
- (c) said wave controller producing a wave command (Vm) by combining said wave information (Vs) with a force or acceleration information (output of H(s)) from respectively the contact between said slave device (s) and the environment (e) or the tip of said slave device (s);
- and
- (d) said wave controller transmitting said wave command (Vm) to said master device (m).
Dependencies are inferred from the claim text.