A Novel Estimation Law for Impedance-Controlled Bilateral Teleoperation to Enhance Human-Environment Interaction

Abstract

This paper presents the design of a bilateral robotic system that integrates advanced control strategies to enhance the teleoperation performance. The system employs these strategies to enable smooth bidirectional communication of motion between the master and slave robots. The estimation of environmental interaction and human force eliminates the need for force sensors on both sides. Impedance-based control is utilized to ensure system stability and improve interaction accuracy. The proposed approach demonstrates effective human-environment interaction and precise teleoperation, as validated through simulation re-sults, showcasing its ability to maintain precise synchronization between the master and slave robots while dynamically adapting the estimation parameters. © 2025 IEEE.