Predicting force feedback to enable bilateral teleoperation over long distances

Abstract

Haptic bilateral teleoperation is a concept where operators can feel, interact with and manipulate objects in a remote environment. The latency, often introduced by a network over a long distance, on force feedback poses a problem when trying to interact with objects. Model mediated teleoperation tries to mitigate this latency, but introduces new problems. Extending on model mediated teleoperation, this thesis uses a physics simulation based model to create an end-to-end system for haptic bilateral teleoperation, implements robotic control for a Novint Falcon and a model to predict force feedback when cutting through objects. Experiments on the implemented cutting model affirm the models accuracy.