Bio-Inspired Teleoperation Control: Unified Rapid Tracking, Compliant and Safe Interaction.

ABSTRACT: In robotic teleoperation, the simultaneous realization of rapid tracking, compliance, and safe interaction presents a fundamental control challenge. This challenge stems from a critical trade-off: high-stiffness controllers achieve rapid tracking but compromise safety during physical interactions, whereas low-stiffness impedance controllers ensure compliant and safe interactions at the expense of responsiveness. To address this conflict, this study proposes a bio-inspired teleoperation control method (BITC) that integrates human withdrawal reflex mechanisms and the nonlinear stiffness characteristics of shear-thickening fluids. BITC features a dynamic force-feedback-driven collision reflex strategy, enabling rapid detection and disengagement from unintended contacts. Additionally, a nonlin

SUBMITTER: Cheng C 

PROVIDER: S-EPMC12466969 | biostudies-literature | 2025 Sep

REPOSITORIES: biostudies-literature