Advanced Teleoperation (II) The Generalized Information Feedback Concept in Computer-Aided Teleoperation
This paper sets the problem of information feedback in computer aided teleoperation from the point of view of supervisory control. Section 1 deals with telepresence versus generalised information feedback (G.I.F.) concepts and the associated perception-action loops in C.A. teleoperation. Section 2 presents the design and implementation of the IRIS experimental system where we underline the contribution of sophisticated technologies: we briefly summarize how force control may be extended to the “remote touch” feeling using proximity sensors. Section 3 focuses on the importance of world model based information for generating realistic or/synthetic, visual or/force feedback. A simulator is firstly used to provide 3D graphic displays. Then it is extended to include a potential field description, which allows the operator to feel in real time artificial magnetic-like forces.
KeywordsObstacle Avoidance Information Feedback Supervisory Control Virtual Camera Proximity Sensor
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