Dynamic VR modeling for force-reflecting teleoperation with time delay

Force feedback helps the operator a lot to perform tasks in teleoperation. But the time delay in communication makes teleoperation system with direct force feedback unstable. In this paper, a novel approach is proposed to create and verify the graphic and dynamic model of the remote physical environment. This model can provide the operator with real-time force feedback which does not depend on the existing time delay in the system. The dynamic parameters of the model are corrected and updated on-line based on information from position and force sensors to keep equal to the remote environment. Then the VR (virtual reality)-based teleoperation system developed in our laboratory is described. Experiments have been done to demonstrate the effectiveness of the proposed method.