Realistic and consistent telerobotic simulation

To remove the effects of time delays, the authors have designed and developed key components of a prototype forward simulation subsystem, the global-local environment telerobotics simulator (GLETS) that buffers the operator from the remote task. GLETS totally immerses an operator in a real-time, interactive, simulated, visually updated artificial environment of the remote telerobotic site. Using GLETS, the operator will, in effect, enter into a telerobotic virtual reality and can easily form a gestalt of the virtual local site that matches his/her normal interactions with the remote site