A four-channel adaptive structure for high friction teleoperation systems in contact with soft environments

In this paper, an adaptive control structure based on the well-known four-channel (4C) control architecture is proposed to achieve transparency in non-ideal (high friction) teleoperation devices. The choice of the parameters to be adapted is motivated using a modified version of the 4C model. Next, two experiments are proposed to define the boundaries of the parameters values to be tuned during the adaptive process. Finally, the adaptive control scheme is successfully applied experimentally to a one degree of freedom (dof) teleoperation device.