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Transparency-optimized position-position control for human-scale bilateral teleoperation.

Amir Noohian1, Faezeh Haghverd1, Alan Lynch1

  • 1Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada.

Frontiers in Robotics and AI
|June 15, 2026
PubMed
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This study introduces a new control strategy for bilateral teleoperation that enhances system transparency by estimating and compensating for robot dynamics. This improves operator perception and accuracy in human-scale robotic systems.

Area of Science:

  • Robotics
  • Control Systems
  • Human-Robot Interaction

Background:

  • Bilateral teleoperation systems utilize position-position (P-P) architecture for stability.
  • However, robot dynamics like inertia and damping limit transparency in human-scale applications.
  • Degraded operator perception occurs during free motion due to these dynamic effects.

Purpose of the Study:

  • To propose a transparency-optimized P-P control architecture.
  • To enhance operator perception by compensating for robot dynamics.
  • To achieve this without using force/torque sensors.

Main Methods:

  • Developed a P-P control architecture using estimated inverse dynamics.
  • Implemented dynamic compensation for leader and follower robot dynamics.
Keywords:
bilateral teleoperationdynamic compensationhuman-scale teleoperation systeminverse dynamicsposition–position control

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  • Validated the approach on a human-scale WAM bilateral teleoperation system.

    • Main Results:

    • Significantly improved free-motion transparency, reducing position tracking error by up to 32%.
    • Reduced leader-side impedance by up to 56% compared to gravity-compensated P-P control.
    • Achieved up to 53% improvement in force tracking accuracy during hard-contact scenarios.

    Conclusions:

    • Dynamic compensation substantially enhances practical transparency in P-P teleoperation.
    • The proposed method improves performance without increasing hardware complexity.
    • This approach is effective for human-scale robotic teleoperation systems.