Model-based robot teleoperation with haptic interface

Woo Keun Yoon, Yuichi Tsumaki, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review

    2 Citations (Scopus)


    An experimental teleoperation system for space robotics has been developed. The purpose of using this system is the development of space robot teleoperation technologies which can replace the skills of an astronaut. Communication time delay is one of the biggest problems encountered by teleoperation of a space robot from the ground. To solve the time delay, we proposed a mixed force and motion command-based space robot teleoperation system that is a model-based teleoperation. Moreover, we have also developed a compact six-DOF haptic interface as a master device. The effectiveness of our model-based teleoperation technologies was verified by carrying out some tasks in a real space robotic system: the Engineering Test Satellite VII (ETS-VII).

    Original languageEnglish
    Pages (from-to)584-591
    Number of pages8
    JournalIndustrial Robot
    Issue number6
    Publication statusPublished - 2003 Dec 8


    • Robotics
    • Space technology
    • Tactile sensors

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Computer Science Applications
    • Industrial and Manufacturing Engineering


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