Future work

To enhance this bilateral telerobotic system, some future works are suggested below:

1. The use of Internet to support the communications between the operator and the robot is quite attractive due to its worldwide availability for a telerobotic system, although time delay present in the network stands as the obstacle to achieve system synchronicity. Event-based control is a very popular method to eliminate the asynchronous phenomenon invoked by time delay. However, the event-based system exhibits unsmooth behavior and unnatural force response, which is not preferred in a telerobotic system. In our works, we have used the VR-based predictive display technique to provide predicted position and virtual contact force of the slave for the human operator in a real-time manner. However, the remote situation remains untackled. In others words, system synchronicity is still not achieved actually. As a future work, we will continue to develop a stable, transparent, and synchronous teleoperation system, which is certainly very challenging.

2. In this thesis, the experiments are basically performed in the simulated environment. In future, the physical system should be implemented to make the experimental results more convincing.

3. For real-time consideration, we should also develop more efficient network transmission method that is robust and fast in data transmission.

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