Bilateral teleoperation - Human operator centered approach

Ilana Nisky, Amir Karniel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


Bilateral teleoperation provides human operators with the ability to manipulate and receive force feedback from distant objects. Teleoperation is applied in various areas such as space robotics, handling hazardous materials, and surgery. Using teleoperated robots in space exploration reduces costs of assembly, maintenance, and repair tasks, as well as the risk that accompanies extra vehicular activity by astronauts. Reliable and transparent feedback is important in space tasks due to their complexity. In measuring transparency it is important to consider how the human perception and action are affected by teleoperation. In this paper we review our findings about the effect of delay on human perception and action: subjects tend to overestimate the stiffness of elastic fields due to delay; this effect changes with probing strategy and with the joint that is used for probing; declarative and motor-related perception of stiffness are inconsistent. Based on these findings we proposed a multidimensional measure of transparency which takes into account perceptual, local motor, and remote transparency. We name the process of minimizing the perceptual transparencey as well as the remote transparencey - transparentizing. We present our human-operator centered transparentizing approach and discuss its potential application to teleoperation in space exploration.

Original languageAmerican English
Title of host publication50th Israel Annual Conference on Aerospace Sciences 2010
PublisherTechnion – Israel Institute of Technology
Number of pages14
ISBN (Print)9781617380839
StatePublished - 1 Jan 2011
Event50th Israel Annual Conference on Aerospace Sciences 2010 - Tel-Aviv and Haifa, Israel
Duration: 17 Feb 201018 Feb 2010

Publication series

Name50th Israel Annual Conference on Aerospace Sciences 2010


Conference50th Israel Annual Conference on Aerospace Sciences 2010
CityTel-Aviv and Haifa

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • General Computer Science
  • Energy Engineering and Power Technology
  • General Physics and Astronomy
  • Space and Planetary Science


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