Stable Non-Linear Force/Position Mapping for Enhanced Telemanipulation of Soft-Environments:

This video shows the experimental performance of a two axis teleoperation system using the proposed adaptive controller with non-linear position mapping and linear force mapping. The master operator manipulates the system in free motion and with soft-environment contact with a sponge. A zoom-in of real-time position tracking, force tracking and master/slave adaptive parameters shows how the system behaves in free motion and with soft-environment contact.