A four-channel multilateral shared control architecture for dual-user teleoperation systems

This paper proposes a novel four-channel multilateral shared control architecture for dual-user teleoperation systems. The proposed control architecture is designed to allow interaction between two users as well as slave and environment through a dominance factor. The dominance factor adjusts the authority of the users over the slave robot and the task. To analyze transparency performance in dual-user systems, a number of performance measures are examined or proposed. These measures are evaluated for various types of environments, users´ grasps, and levels of dominance of the users over the task.