Decreasing the Apparent Inertia of Human-Scale Teleoperation Systems

Amir Noohian, Alan Lynch, Martin Jägersand

Keywords: Human-Scale Teleoperation System, Transparency Optimization, Dynamic Compensation

Abstract: In unconstrainted movements, haptic devices should allow users to move freely with minimal perceived inertia. Yet, designing devices with a workspace comparable to the human arm often leads to bulky systems with high inertia. To address this challenge, we propose an approach based on inverse dynamics modeling that reduces the inertia experienced by the user. The method has been implemented on a WAM teleoperation system, showing that inverse dynamics can effectively improve transparency in large haptic devices.

Submission Number: 41