A model-based predictive operator aid for telemanipulators with time delay

A dynamic user aid was developed to help operators compensate for several-second time delays in telemanipulator systems. The approach includes state prediction, position feedback presentation, force feedback presentation, and slave impedance control. The aid helps the operator anticipate the delayed system response by providing predicted force and position feedback using dynamic models of both the manipulator and the environment. Three predictive force feedback techniques are also presented. Results of tests with a single-degree-of-freedom simulation showed operator performance to improve with the predictive aid. Tests also showed that `dual´ force reflection provides better performance than other techniques