Engineering

Haptic teleoperation

Feel a remote wall through two coupled handles. Compare delay, contact stiffness and an energy-limited force-feedback channel.

By Mykhailo Makarov

Actual application image

What happens

Raise the delay, then compare feedback with and without its energy guard. The blue handle follows a compliant operator; the amber handle presses a spring-mounted wall.

One axis, prescribed operator target, finite masses and servo forces. The energy guard bounds positive work of the reflected-force actuator only; it is not a complete bilateral passivity controller or real haptic hardware.

Try this

Raise the delay, then compare feedback with and without its energy guard. The blue handle follows a compliant operator; the amber handle presses a spring-mounted wall.

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