Accurate force reflection for kinematically dissimilar bilateral teleoperation systems using instantaneous restriction space

This paper proposes restriction space projection (RSP) method to generate accurate direction of force reflection when a bilateral teleoperation system (BTS) is kinematically dissimilar. Through examples, it is shown that the previous force reflection methods are not applicable to the kinematically dissimilar BTSs. Two kinds of RSP methods using a novel concept, instantaneous restriction space (IRS), are implemented for impedance and admittance type of BTSs. Especially, new developed obstacle avoidance algorithm using the redundancy of the slave manipulator makes the RSP method applicable to all kinds of kinematically dissimilar BTSs. Experiments verify that the RSP method is powerful to describe the restriction space at the slave side without force sensors