Evaluation of maneuverability in teleoperation based on operational effort

In recent years, it becomes more common for humans to use teleoperated robot systems. Mobile robot is effective as the teleoperated robot due to its large working area. The conventional mobile robots are generally controlled based on position and velocity control system, and they are not able to transmit tactile information. Introduction of force feedback is an effective solution, but it increases the operational force and deteriorates a operational ease. However, the deterioration of the operational ease can´t be evaluated because there is no index until now. This paper proposed maneuverability as a new index of operational ease in teleoperation. Maneuverability is evaluated based on operational effort. By using this index, the appropriate teleoperation system can be determined in view of operational ease. Then, frequency domain dimensional scaling bilateral control (FDDBC) is designed to reduce operational effort. 5 types of control method including FDDBC are compared by using maneuverbility and the effectiveness of the proposed index is verified through the experiments.