Bilateral modeling in teleoperation An example in practice

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.