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A design framework for teleoperators with kinesthetic feedback
Abstract
The application of a hybrid two-port model to teleoperators with force and velocity sensing at the master and slave is presented. The interfaces between human operator and master, and between environment and slave, are ports through which the teleoperator is designed to exchange energy between the operator and the environment. By computing or measuring the input-output properties of this two-port network, the hybrid two-port model of an actual or simulated teleoperator system can be obtained. It is shown that the hybrid model (as opposed to other two-port forms) leads to an intuitive representation of ideal teleoperator performance and applies to several teleoperator architectures. Thus measured values of the h matrix or values computed from a simulation can be used to compare performance with the ideal. The frequency-dependent h matrix is computed from a detailed SPICE model of an actual system, and the method is applied to a proposed architecture.>
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Cited by
Yokokohji, Y., & Yoshikawa, T. (1994) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.326566 · Cited by 939
Toward Haptic Communications Over the 5G Tactile Internet
Antonakoglou, K., Xu, X., Steinbach, E., Mahmoodi, T., & Dohler, M. (2018) · IEEE Communications Surveys & Tutorials · doi:10.1109/comst.2018.2851452 · Cited by 250
Haptic Codecs for the Tactile Internet
Steinbach, E., Strese, M., Eid, M., Liu, X., Bhardwaj, A., Liu, Q., Al-Ja'Afreh, M., Mahmoodi, T., Hassen, R., El Saddik, A., et al. (2019) · Proceedings of the IEEE · doi:10.1109/jproc.2018.2867835 · Cited by 166
Metadata
- Authors
- Hannaford, B.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1989
- Volume
- 5
- Issue
- 4
- Pages
- 426-434
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2134927525
- Cited by
- 926
- References
- 0
- FWCI
- 23.85
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: A design framework for teleoperators with kinesthetic feedback. https://app.cochat.ai/papers/10.1109/70.88057
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- Hannaford, B. (1989). A design framework for teleoperators with kinesthetic feedback. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.88057
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