Stiffness judgment of objects through teleoperation systems based on direct force reflection control

The stiffness judgment of objects is an importance project in the teleoperation systems, by which the human operator understands the objects in the environment. Furthermore, an accurate force reflection is a key factor to accurately judge the stiffness of objects. In this paper, a stiffness judgment method of objects through teleoperation systems based on direct force reflection (DFR) control is proposed. A teleoperation experimental setup has been established where haptic devices are employed as the master and slave. The operator uses the local master to control the remote slave to contact different springs which are supposed as different objects. The results show the effectiveness of the stiffness judgment of objects through teleoperation systems based on DFR. Published under license by AIP Publishing.