Design Guidelines for Wave Variable Controllers in Time Delayed Telerobotics

Wave variable controllers provide a passive force reflecting means of communication across time delays in telerobotics. In practice however it is often unclear how to best "tune" the wave variable controller to achieve reasonable responses with fast settling times and provide the user with a good perception of the remote environment. This paper develops a set of metrics to compare the performance of various controllers. It examines controller configurations and parameters to derive basic design guidelines. These guidelines are demonstrated on an experimental system with large master-slave scale asymmetry