A study on selecting the method of constructing the information to be exchanged in unlimited-workspace bilateral teleoperation

In this paper, a study on selecting the mapping method for information exchange in unlimitedworkspace \nteleoperation is presented. In spite the fact that in most of the bilateral teleoperation systems, the \nmaster system sends motion demands and receives interaction force from the slave system, the information to be exchanged through the communication line between master and slave is selected to be force in both directions in this study. This approach is expected to ease the navigation of the user when a limited-workspace master system is used to control an unlimited-workspace slave system. As the unlimited-workspace slave system, a virtual flying scalpel is used and human skin is modeled \nto represent the environment around the slave system. Two methods of constructing force information, or in other words, information mapping between the two systems, are developed and evaluated via user studies. However, one of them comes out to provide acceptable results in the selected unlimited-workspace teleoperation task. Experimental results for the method that provides acceptable results are presented.