Optimized Power Modulation in Wave-Based Bilateral Teleoperation

A common approach for stabilizing the delayed communication channel in a bilateral teleoperation architecture is using wave variables to make the exchange of information equivalent to a passive physical dynamics. However, such a dynamics is felt by the user and it affects the transparency of the system. In this article, we exploit the wave variables for storing the energy exchanged between master and slave, but we shape the incoming power for reproducing a desired, transparent behavior. First, we propose a passivity preserving modulation of the incoming power, and then, we achieve possibly scaled desired forces and velocities. Finally, we formulate an optimization problem for computing the best values of forces and velocities to be implemented. A validation of the proposed architecture and the comparison of its performances with respect to the standard wave-based approach are provided.