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This paper presents a modified master-slave motion mapping method for space teleoperation using haptic device with limited workspace. The method combines rate control and a variable scaled position mapping to realize accurate and efficient teleoperation. Haptic feedback in these two mapping modes is designed with emphasis on ergonomics to improve immersion of teleoperation. A dead zone is defined...
Virtual coupling is commonly used to maintain stability of penalty-based haptic rendering. However, due to dozens of design parameters involved in the dynamics and force model, to increase transparency while maintaining stability using virtual coupling remains a challenge for 6-Degree-of-Freedom (DOF) haptic rendering. Using an equivalent-angle analysis, we transform 3-DOF rotation into 1-DOF rotation,...
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