Bilateral modeling in teleoperation An example in practice

Lucas Schoot Uiterkamp; Gwenn Englebienne

Bilateral modeling in teleoperation An example in practice

Lucas Schoot Uiterkamp
, Gwenn Englebienne

Human Media Interaction

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

Model Mediated Teleoperation (MMT) allows high frequency interactions in the presence of communication delays by modelling the other side of the interaction. In bilaterial MMT, this modelling occurs on both sides of the interaction rather than only on the typical operator side. Such a setup is more robust to changes in the (to the operator) remote environment, because the operator can be modeled while taking the dynamic environment into account. We present a bilateral MMT system featuring environment and operator modelling, and a variable stiffness controller based on these two models.

Original language	English
Title of host publication	Proceedings of the 2nd IEEE Conference on Telepresence (TELEPRESENCE 2025)
Publisher	IEEE
Publication status	Accepted/In press - 8 Sept 2025
Event	2nd IEEE Conference on Telepresence, TELEPRESENCE 2025 - Leiden, Netherlands Duration: 8 Sept 2025 → 10 Sept 2025 Conference number: 2 https://conf.telepresence.ieee.org/

Conference

Conference	2nd IEEE Conference on Telepresence, TELEPRESENCE 2025
Abbreviated title	TELEPRESENCE
Country/Territory	Netherlands
City	Leiden
Period	8/09/25 → 10/09/25
Internet address	https://conf.telepresence.ieee.org/

Cite this

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title = "Bilateral modeling in teleoperation An example in practice",

abstract = "Model Mediated Teleoperation (MMT) allows high frequency interactions in the presence of communication delays by modelling the other side of the interaction. In bilaterial MMT, this modelling occurs on both sides of the interaction rather than only on the typical operator side. Such a setup is more robust to changes in the (to the operator) remote environment, because the operator can be modeled while taking the dynamic environment into account. We present a bilateral MMT system featuring environment and operator modelling, and a variable stiffness controller based on these two models.",

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N2 - Model Mediated Teleoperation (MMT) allows high frequency interactions in the presence of communication delays by modelling the other side of the interaction. In bilaterial MMT, this modelling occurs on both sides of the interaction rather than only on the typical operator side. Such a setup is more robust to changes in the (to the operator) remote environment, because the operator can be modeled while taking the dynamic environment into account. We present a bilateral MMT system featuring environment and operator modelling, and a variable stiffness controller based on these two models.

AB - Model Mediated Teleoperation (MMT) allows high frequency interactions in the presence of communication delays by modelling the other side of the interaction. In bilaterial MMT, this modelling occurs on both sides of the interaction rather than only on the typical operator side. Such a setup is more robust to changes in the (to the operator) remote environment, because the operator can be modeled while taking the dynamic environment into account. We present a bilateral MMT system featuring environment and operator modelling, and a variable stiffness controller based on these two models.

M3 - Conference contribution

BT - Proceedings of the 2nd IEEE Conference on Telepresence (TELEPRESENCE 2025)

PB - IEEE

T2 - 2nd IEEE Conference on Telepresence, TELEPRESENCE 2025

Y2 - 8 September 2025 through 10 September 2025

ER -

Bilateral modeling in teleoperation An example in practice

Abstract

Conference

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