Model-Mediated Teleoperation with 3D Dynamic Environment Tracking (MMT-DET): A Comparative Study of Task Performance with Time-Domain Passivity Control
Diego Fernandez Prado, Xiao Chen, Jean Elsner, Hamid Sadeghian, Nader Rajaei, Abdeldjallil Naceri, Sami Haddadin, Eckehard G. Steinbach
Abstract
Teleoperation with haptic feedback allows users to interact with remote environments while retaining a sense of touch. However, the stability and transparency of these systems are compromised under communication network delay. This paper presents an augmented Model-Mediated Teleoperation with 3D object and dynamic environment tracking (MMT-DET) by a vision-based algorithm, enabling users to receive haptic feedback in structured dynamic environments while maintaining robustness against network delays. A user study comparing the proposed method with teleoperation using the Time Domain Passivity Approach (TDPA) was conducted. The results demonstrate that our MMT-DET exhibits robustness to varying delays in task performance and outperforms TDPA at higher delay levels.
BibTeX
@inproceedings{iros2025_modelmediatedtel,
title = {Model-Mediated Teleoperation with 3D Dynamic Environment Tracking (MMT-DET): A Comparative Study of Task Performance with Time-Domain Passivity Control},
author = {Diego Fernandez Prado and Xiao Chen and Jean Elsner and Hamid Sadeghian and Nader Rajaei and Abdeldjallil Naceri and Sami Haddadin and Eckehard G. Steinbach},
booktitle = {IROS 2025},
year = {2025}
}