Force assistance function for human-machine cooperative telerobotics using fuzzy logic

Teleoperation performance can be improved through methods that combine remote operation with robotic techniques and lessen the inefficiencies and complexities inherent in teleoperation. The human machine cooperative telerobotics (HMCT) project uses robotic control techniques, called assistance functions, to enhance the ability of the human operator by modifying the operator's commands. This paper presents the concept of HMCT using the force assistance function based on fuzzy control.