systems aim to create a seamless connection between an operator and a remote environment. , a key concept, measures how well the system achieves this goal. It's all about making the operator feel like they're directly interacting with the remote site.
Achieving transparency involves accurate force and , minimizing delays, and overcoming hardware limitations. Controllers play a crucial role in enhancing transparency, with advanced techniques like and -based approaches improving performance across various conditions.
Transparency in Bilateral Teleoperation
Defining Transparency and Its Importance
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Top images from around the web for Defining Transparency and Its Importance
Frontiers | Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and ... View original
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Frontiers | High-Level Teleoperation System for Aerial Exploration of Indoor Environments View original
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Frontiers | A Surgical Robot Teleoperation Framework for Providing Haptic Feedback Incorporating ... View original
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Frontiers | Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and ... View original
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Transparency measures the operator's sense of direct connection to the remote environment in bilateral teleoperation systems
Perfectly transparent system enables interaction with remote environment without perceiving the teleoperation system
Characterized by accurate transmission of forces, positions, and sensory information between master and slave devices
Closely related to (subjective experience of being present in the remote environment)
Requires minimizing discrepancies between commanded and actual motions and forces at both master and slave sides
Serves as a key performance metric impacting the operator's ability to perform tasks effectively and intuitively
Achieving and Measuring Transparency
Involves accurate force and position transmission between master and slave devices
Requires minimizing system-induced distortions and delays
Evaluated through quantitative metrics (, , )
Assessed using time-domain performance measures (, )
Measured through psychophysical experiments with human operators (, )
Analyzed using and for varying conditions
Factors Affecting Transparency
Time Delay and Scaling
Time impacts transparency due to signal transmission and processing times
Increased delay leads to instability, reduced performance, and degraded telepresence