Force reflection algorithm for improved transparency in bilateral teleoperation with communication delay

The problem of stable force-reflecting teleoperation with time-varying communication delay is addressed. A new force reflection algorithm is presented, where the environmental force reflected on the master side can be altered depending on the forces applied by the human operator. This alteration is not felt by the human operator, however, it makes the force reflection safe in the sense it does not destroy the stability of the teleoperator. In particular, using IOS small gain approach, it is shown that the overall stability in the teleoperator system with the force-reflecting algorithm proposed can be achieved theoretically for arbitrarily low damping on the master side and arbitrarily high force-reflection gain. The simulation results are presented that confirm that the proposed scheme allows to decrease master damping significantly, and thus improve the transparency of force-reflecting teleoperation, without sacrificing the overall stability