Detection of Discrepancies and Sensory-Based Recovery for Virtual Reality Based Telemanipulation Systems

Teleoperators using an intermediate functional representation of the remote real environment (RE), suffer a lack of its accurate synthetic modeling. Indeed, discrepancies will always occur between the RE and, let's say, its artificial representation by means of virtual environment (VE). A strategy to deal with VE/RE uncertainties based mainly on sensory level interpretation is presented. It is directed to avoid use of task knowledge by providing a stream of virtual sensors values. Within the remote site, a supervisor is in charge of recovering from the VE/RE discrepancies by a continuous simulated and real states comparison. The states are derived respectively from simulated and real sensors interpretation. A simple experiment with the proposed approach is presented using only position (velocity) and force sensors. Limitations of the proposed approach are also discussed. 1 Introduction For various applications, many advanced teleoperators use an intermediate functional representation..