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Bio-Inspired Teleoperation Control: Unified Rapid Tracking, Compliant and Safe Interaction
Chuang Cheng1, Haoran Xiao1, Wei Dai1
1The College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China.
Biomimetics (Basel, Switzerland)
|September 26, 2025
Summary
This study introduces a bio-inspired teleoperation control (BITC) method. BITC enhances robotic safety and responsiveness by integrating human reflexes and nonlinear fluid properties, improving tracking and interaction.
Area of Science:
- Robotics
- Control Systems
- Human-Computer Interaction
Background:
- Robotic teleoperation faces a trade-off between tracking speed and safety.
- High-stiffness controllers offer speed but risk unsafe interactions.
- Low-stiffness controllers ensure safety but reduce responsiveness.
Purpose of the Study:
- To develop a novel teleoperation control method addressing the speed-compliance-safety conflict.
- To integrate bio-inspired mechanisms for enhanced robotic interaction.
- To improve overall teleoperation performance through unified control.
Main Methods:
- Proposed a bio-inspired teleoperation control (BITC) method.
- Integrated human withdrawal reflex mechanisms and shear-thickening fluid properties.
- Implemented dynamic force-feedback-driven collision reflex and nonlinear compliance control.
- Utilized full-state feedback tracking for unified control.
Main Results:
- Achieved accurate tracking performance.
- Demonstrated compliant behavior during deep contact with force fidelity during initial contact.
- Enabled rapid collision detection and disengagement.
- Reduced peak contact forces by approximately 60%.
- Minimized contact duration to under 120 ms.
Conclusions:
- The BITC method effectively unifies rapid tracking, compliance, and safety in robotic teleoperation.
- Bio-inspired design enhances robotic interaction safety and performance.
- The method offers significant improvements in collision response and force management.
