Kuzu, AhmetBaran, Eray A.Bogosyan, SetaGokasan, MetinSabanovic, Asif2024-07-182024-07-1820180959-65182041-3041https://doi.org/10.1177/0959651817735777https://hdl.handle.net/11411/8001This article presents a novel master-slave control configuration that is experimentally demonstrated to improve teleoperation performance under random network delay. This is achieved via the design of a proactive haptic sensing system based on a laser range sensor on the slave side, which in turn allows for the proactive transmission of force control from the master to the slave, thus compensating for Internet-based network delays. The proposed configuration introduces three main contributions to the literature of bilateral control systems: (1) fully decoupled position and force control systems, which allow for the controller gains of each loop to be tuned independently, eliminating the trade-off common to most previous literature; (2) a novel approach that exploits the slow variation nature of the environment parameters, resulting in a lower bandwidth requirement in comparison to previous force control methods; (3) capability to measure the slave environment location and the prediction of the contact force as a result, which provides the human operator with the capability to generate the reaction force proactively on the master side. The conducted experiments demonstrated a significantly improved performance in terms of synchronized forces and positions despite the random network delay between the master and slave systems.eninfo:eu-repo/semantics/closedAccessBilateral ControlTeleoperationCommunication DelayDisturbance ObserverSmith PredictorModel Tracking ControlTime-DelayCommunicationNetworkSystemDesignArticle2-s2.0-8503991365410.1177/0959651817735777911Q279232Q4WOS:000418658100007