Scaling Teleoperation Robust to Valuable Time-Delays

This paper presents a general technique for variable time delay compensation in teleoperation, which is based on the prediction of the human arm position and force, i.e. effectively the master state. The method is illustrated within an architecture previously proposed by Yokokohji and Yoshikawa. Scaling of master variables is also incorporated, so that a complete system suitable for most teleoperator applications is produced. Stability of the system is shown under perfect prediction through the passivity theory framework. A human arm model is employed in the master state prediction implementation.