Enhancing Safety and Naturalness in Haptic Teleoperation of Admittance-Controlled Robots through Virtualized Force Feedback

The proposed haptic bilateral teleoperation system features a virtualized force feedback based on the motion error generated by an admittance-controlled robot, enabling decoupling of the force rendering system from the control of the interaction. Additionally, it embeds a saturation strategy of the motion references to limit the forces exerted by the robot on the environment, ensuring safe interaction.