Transparency issues of acceleration waves

This paper presents acceleration-wave-based data transmission and control model to improve performance in terms of transparency and perception bandwidth for time-delayed teleoperation mechanisms. Four channel wave transmission structure provides direct force and velocity feedbacks to each robot by asymmetric damping. Wave data is decomposed into acceleration terms and employed in acceleration control with scaling of both of the force and position-based acceleration dimensions. Neither in wave space nor in control space, perception-bandwidth-limiting filters are not used. We have analyzed the system for transparency and compared the results with previous models.