Research On Performance Of Teleoperator Based Telerobotic System

The research on telerobotic system has been very prevalent for decades due to the widespread applications in various areas.With the development of the technology,the robot is closing our lives so that the human-machine interaction is becoming increasingly important.Most studies have been focused on two major issues:stability and telepresence.Few have studied the influence of the operation status of the teleoperator on the performance of telerobotic operations.As subnormal operation status will lead to insufficiency and even wrong teleoperation,the performance of teleoperator(PoT)is defined to present the relationship between different operation status and results of teleoperation.This topic discusses the identification of the PoT and its application to telerobotic system.First,we investigate the concept of PoT and its online identification based on EEG signals.The brain-computer interface(BCI)is used to acquire the five PoT indicators,and several virtual teleoperation environments are set to evaluate the graded performance of teleoperator indirectly.Then,the neural network is utilized to model the relationship between the mental status of teleoperator and the PoT.Second,a PoT based shared control teleoperation framework is proposed,which contains the design of mobile robotic system and the PoT based adjustment strategy for control weights.The mobile robotic system consists of operator-site and remote-site,referring to telepresence system,multirobot communication and design of autonomous controller.The shared control framework can combine the senior strategy of teleoperator and autonomous control of robots,and PoT is used to adjust the control weights between them in the topic.Third,two validation experiments are implemented.The online identification of PoT model compares different PoT acquired from the PoT model and performance indicators,and makes the correlation analysis,which validates the effectiveness of the proposed PoT model.The control experiment is conducted for the PoT based shared control teleoperation to show the advantage of the operation status based telerobotic system.Finally,this paper discusses and summaries the whole work,focuses on the importance and innovation of the online PoT identification and the PoT based telerobotic system.The future work of the PoT and its wider application are looking ahead in the end.