title: Two-Channel Transparency-Optimized Control Architectures in Bilateral Teleoperation With Time Delay.
abstract: This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs.
authors.affiliation: Rehabilitation Medicine Department, Clinical Research Center, National Institutes of Health (NIH), Bethesda, MD 20892 USA.
authors.forename: Jonghyun
authors.initials: J
authors.lastname: Kim
authors.forename: Pyung Hun
authors.initials: PH
authors.lastname: Chang
authors.forename: Hyung-Soon
authors.initials: HS
authors.lastname: Park
keywords: Bilateral control; switched delay system; teleoperation; telerobotics; time delay; transparency-optimized control architecture (TOCA); two-channel architecture