Performance Evaluation of Bilateral Micro-Teleoperation Systems based on Man-Machine Dynamic Characteristics

Abstract

In micro-teleoperation, where the master and the slave physical characteristics differ from each other, how to scale up and down the contact force and the motion command is a crucial problem. Some scaling methods have been proposed but how they affect the human operator is still a remaining problem. The evaluation of the scaling gains should consider also the dynamic characteristics of the human operator, since he/she is inside the control loop and is responsible for the command input. In this paper, the performance of a micro-teleoperation system was evaluated based on man-machine dynamic characteristics in both visual and force control tasks.