Sensor fusion in telerobotic task controls

This paper describes a display and control methodology for combining (or fusing) different multidimensional sensor data to guide the performance of telerobotic contact or near-contact tasks successfully in both manual and supervised automatic modes of control. Success is defined as a mapping of control goals or subgoals into a multidimensional data space. Several implemented examples are presented and illustrated. The methodology can also be extended to virtual reality simulation of telerobotic task scenarios through proper physical modeling of sensors