Novel shared control architectures for enhanced users´ interaction in haptic training simulation systems

This paper proposes two new multilateral shared control architectures for dual-user haptic training systems. Similar to the architecture previously proposed in, the controllers allow interaction between both users, the trainee and the trainer, as well as between the users and the virtual slave robot and environment. However, the newly proposed architectures provide increased maneuverability and enhanced sense of environment to the users. The kinesthetic performance of the proposed control architectures are analyzed under different operating conditions. Furthermore, the architectures are implemented on a dual-user haptic simulation testbed for user study experiments to investigate the effectiveness of the proposed architectures in terms of sense of environment, maneuverability, and guidance.