title: A dual-user teleoperation system with Online Authority Adjustment for haptic training.
abstract: This paper introduces a dual-user teleoperation system for hands-on medical training. A shared control based architecture is presented for authority management. In this structure, the combination of control signals is obtained using a dominance factor. Its main improvement is Online Authority Adjustment (OAA): the authority can be adjusted manually/automatically during the training progress. Experimental results are provided to validate the performances of the system.
authors.lastname: Fei Liu
authors.forename: Arnaud
authors.initials: A
authors.lastname: Leleve
authors.forename: Damien
authors.initials: D
authors.lastname: Eberard
authors.forename: Tanneguy
authors.initials: T
authors.lastname: Redarce
mesh_terms: D000465:Algorithms; D020407:Internet; D012371:Robotics; D014584:User-Computer Interface