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Title: $Transparency- and Performance-Oriented Control of Haptic Teleoperation Systems
Abstract: This dissertation presents advanced transparency- and performance-oriented control concepts for haptic teleoperation systems. Model-mediated teleoperation is investigated as transparency-oriented control concept. Stability is analyzed and the applicability is extended considerably. The fidelity improvement is shown theoretically and experimentally compared to a classical controller. Haptic assistances that share the authority over the teleoperation system with the human operator are investigated as performance-oriented control concept. A systematic design tool for the authority sharing is introduced and different authority behaviors are compared with each other and analyzed in a user study. Finally, a multi-criteria control concept for combining the advantages of transparency- and performance-oriented controllers is presented.