Haptically Augmented Teleoperation

  • Nicolas Turro
  • Oussama Khatib
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)


This article presents various experiments conducted at the Stanford Robotics Group to enhance teleoperation thru the use of movement constraints. Several types of constraints have been studied : Safety constraints, limiting the movements of the slave robot into safe areas and robot and guidance constraints, helping the operator to move according to a predefined geometrical path (along a line, on a plane). Those constraints have been implemented using force feedback on the master device and potential fields are used to compute the amplitude of the force feedback according to the constraints.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Nicolas Turro
    • 1
  • Oussama Khatib
    • 2
  1. 1.Inria/Stanford University Robotics GroupFrance
  2. 2.Stanford University Robotics GroupUSA

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