Numerical Evaluation of Transparency in Teleoperation Systems

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dc.authorid0000-0001-6264-8679
dc.contributor.authorMajeed, Fatimah J.
dc.contributor.authorBaran, Eray A.
dc.date.accessioned2026-04-04T18:55:51Z
dc.date.available2026-04-04T18:55:51Z
dc.date.issued2025
dc.departmentİstanbul Bilgi Üniversitesi
dc.description.abstractEvaluation of the performance of teleoperation systems plays an important role in assessing the efficacy and reliability of such systems. The evaluation is usually performed based on factors such as stability, transparency, and user satisfaction. However, very few studies have addressed the numerical evaluation of transparency in teleoperation systems so far. This letter presents a novel method to numerically assess the transparency of teleoperation systems based on representing recorded experimental data algebraically by fitting parametric curves using Elliptic Fourier Descriptors (EFD). The EFD coefficients are used to compute the Hybrid Matrix of the teleoperation system, which provides a metric for judging how transparent a teleoperation system is. This letter validates the proposed method using real experimental position and force data for teleoperation systems with and without time delay, as well as providing an analysis of the effect of the number of harmonics on the calculation of the Hybrid Matrix.
dc.identifier.doi10.1109/LRA.2025.3568609
dc.identifier.doi10.1109/LRA.2025.3568609
dc.identifier.endpage6551
dc.identifier.issn2377-3766
dc.identifier.issue7
dc.identifier.scopus2-s2.0-105004810297
dc.identifier.scopusqualityQ1
dc.identifier.startpage6544
dc.identifier.urihttps://doi.org/10.1109/LRA.2025.3568609
dc.identifier.urihttps://hdl.handle.net/11411/10584
dc.identifier.volume10
dc.identifier.wosWOS:001492102200002
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherIeee-Inst Electrical Electronics Engineers Inc
dc.relation.ispartofIeee Robotics and Automation Letters
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_WoS_20260402
dc.snmzKA_Scopus_20260402
dc.subjectMain-Secondary
dc.subjectForce
dc.subjectHarmonic Analysis
dc.subjectFitting
dc.subjectStability Criteria
dc.subjectImpedance
dc.subjectNumerical Stability
dc.subjectFrequency Modulation
dc.subjectReactive Power
dc.subjectDelay Effects
dc.subjectBilateral Control
dc.subjectTeleoperation
dc.subjectTransparency Evaluation
dc.subjectElliptic Fourier Descriptors
dc.titleNumerical Evaluation of Transparency in Teleoperation Systems
dc.typeArticle

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