Model-mediated teleoperation (MMT) employs an environment model at the master side to compute feedback output to the master at a faster rate. This approach improves system stability in the presence of time delay. MMT, however, does not generally perform well if the employed model is not accurate. The model mismatch is unavoidable when the environment is unknown in advance or varies. This paper proposes MMT employing an adaptive model. The proposed method adaptively moves the reference point of the employed model, whereas the previous MMTs used reference points fixed to the surface of objects in the environment. This can make system stability independent of the time delay. Experiments show that the proposed method improves stability compared to the previous MMTs when there are model mismatches. User studies are conducted to compare the operator’s performance in two tasks, control of force exerted to objects in the environment, and discrimination of object stiffness. The result shows that the error in the forces applied to objects in the environment significantly decreases in the proposed method. Errors in forces rendered to the master are also improved by at least 20.2%. The experiment result also shows that subjects can discriminate up to 40.9% smaller differences in the stiffness than the previous MMT under the same time delay.

中文翻译：

---

用于与不确定环境交互的任务的自适应模型介导的遥操作

模型介导的远程操作 (MMT) 在主机端采用环境模型，以更快的速度计算到主机的反馈输出。这种方法在存在时间延迟的情况下提高了系统稳定性。但是，如果采用的模型不准确，MMT 通常不会表现良好。当环境事先未知或变化时，模型不匹配是不可避免的。本文提出了采用自适应模型的 MMT。所提出的方法自适应地移动所采用模型的参考点，而以前的 MMT 使用固定到环境中物体表面的参考点。这可以使系统稳定性独立于时间延迟。实验表明，当存在模型不匹配时，所提出的方法与之前的 MMT 相比提高了稳定性。进行用户研究以比较操作员在两项任务中的表现，控制施加到环境中物体的力，以及辨别物体刚度。结果表明，在所提出的方法中，施加到环境中物体的力的误差显着降低。呈现给主人的力的错误也至少改善了 20.2%。实验结果还表明，在相同的时间延迟下，受试者可以分辨出比之前的 MMT 小 40.9% 的刚度差异。呈现给主人的力的错误也至少改善了 20.2%。实验结果还表明，在相同的时间延迟下，受试者可以分辨出比之前的 MMT 小 40.9% 的刚度差异。呈现给主人的力的错误也至少改善了 20.2%。实验结果还表明，在相同的时间延迟下，受试者可以分辨出比之前的 MMT 小 40.9% 的刚度差异。