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Enhanced teleoperation performance using hybrid control and virtual fixture

Luo, Jing; Yang, Chenguang; Wang, Ning; Wang, Min


Jing Luo

Ning Wang

Min Wang


To develop secure, natural and effective teleoperation, the perception of the slave plays a key role for the interaction of a human operator with the environment. By sensing slave information, the human operator can choose the correct operation in a process during the human–robot interaction.
This paper develops an integrated scheme based on a hybrid control and virtual fixture approach for the telerobot. The human operator can sense the slave interaction condition and adjust the master device via the surface electromyographic signal. This hybrid control method integrates the proportional-derivative control and the variable stiffness control, and involves the muscle activation at the same time. It is proposed to quantitatively analyse the human operator’s control demand to enhance the control performance of the teleoperation system. In addition, due to unskilful operation and muscle physiological tremor of the human operator, a virtual fixture method is developed to ensure accuracy of operation and to reduce the operation pressure on the human operator. Experimental results demonstrated the effectiveness of the proposed method for the teleoperated robot.


Luo, J., Yang, C., Wang, N., & Wang, M. (2019). Enhanced teleoperation performance using hybrid control and virtual fixture. International Journal of Systems Science, 50(3), 451-462.

Journal Article Type Article
Acceptance Date Dec 17, 2018
Online Publication Date Jan 11, 2019
Publication Date Sep 1, 2019
Deposit Date Feb 7, 2019
Publicly Available Date Jan 12, 2020
Journal International Journal of Systems Science
Print ISSN 0020-7721
Electronic ISSN 1464-5319
Publisher Taylor & Francis
Peer Reviewed Peer Reviewed
Volume 50
Issue 3
Pages 451-462
Keywords telerobots, variable stiffness, muscle activation, hybrid control, virtual fixture
Public URL
Publisher URL
Additional Information Additional Information : This is an Accepted Manuscript of an article published by Taylor & Francis in International Journal of Systems Science on 11th January 2019, available online:


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