Currently, the application of mobile ground robots spans a range of fields from surveillance,
search and rescue, exploration, agriculture, military among others. In unstructured and …

In this paper, a medical forceps system with tactile and force feedback ability desired by
surgical robots is developed. Bilateral teleoperation systems can decompose into the …

This article presents an overview of the current state of research and application of haptic
(primarily kinesthetic) feedback and force-based teleoperation in the context of surgical …

Teleoperated minimally invasive surgical robots can significantly enhance a surgeon's
accuracy, dexterity and visualization. However, current commercially available systems do …

We propose a novel control framework for bilateral teleoperation of a pair of multi-degree-of-
freedom nonlinear robotic systems under constant communication delays. The proposed …

In this paper we survey the development of the wave variable concept and examine wave-
based teleoperation. We study the behavior of force reflecting systems under unknown but …

The unprecedented shock caused by the COVID-19 pandemic has severely influenced the
delivery of regular healthcare services. Most non-urgent medical activities, including elective …

Haptic teleoperation enables the human to perform manipulation tasks in distant, scaled,
hazardous, or inaccessible environments. The human closes the control loop sending haptic …

In this chapter we present an overview of the field of telerobotics with a focus on control
aspects. To acknowledge some of the earliest contributions and motivations the field has …

A robotic surgical system has a robot arm holding an instrument for performing a surgical
procedure, and a control system for controlling movement of the arm and its instrument …