Extending an Isotropic Virtual Environment Model with Geometrical Information in Model-Mediated Teleoperation

Haptic Teleoperation is a means of performing tasks that require human levels of dexterity without a human needing to be present. This has a plethora of applications in various industries. However, time delay poses certain problems, notably with dynamic stability, in a lot of these systems. Model Mediated Teleoperation (MMT) techniques provide a means of mitigating energy creation in time-delayed communication channels. MMT techniques in literature either estimate geometric or dynamic properties of the environment. This paper proposes a system that estimates both kinds of properties to render force for a environment consisting of a flexible object on a table. We obtained promising results, but inaccuracies in high-frequency performance and in dealing with environmental inhomogeneity require further study.