Abstract
This paper describes a novel bilateral master control device for advanced teleoperation and discusses man-machine interaction method using the instruction device. The intervention tool is a 1-DOF bilateral master-slave dial designed to support remote execution of tasks in advanced teleoperation systems. Two kinds of intervention methods are proposed and have been implemented: predictive assistance and interruptive assistance. A teleoperation system integrating the intervention tool and the direct-drive manipulator ETA-3 has been developed. The system provides the operator the ability of real-time remote assistance of manipulator movement for error avoidance and recovery. A diaphragm exchanging task has been completed successfully using the assistance technique. The system configuration and experimental results are also described.
