telemanipulators

Telemanipulators are robotic systems that allow a human operator to manipulate objects in distant or hazardous environments using a master control device that maps the operator’s motions to a slave manipulator. The operator stays in a safe location while the remote arm performs the task. Sensory feedback, including vision and haptics, aids performance.

Typical components are a master device (joystick, exoskeleton, or haptic interface) and a slave manipulator (robotic arm with a gripper). A communication link transmits commands and sensor data. Control methods range from direct teleoperation to supervisory or shared control, where the operator guides high-level goals and the system handles execution.

Telemanipulation configurations include teleoperation and telepresence. Teleoperation emphasizes real-time motion mapping with limited sensory feedback, while telepresence prioritizes immersive feedback, including force feel, which can increase realism but may add latency.

Applications span hazardous environments and distant operations, including underwater work, nuclear decommissioning, space missions, disaster response, and telerobotic surgery. In medicine, master-slave systems enable surgeons to manipulate instruments with enhanced precision while shielding clinicians from danger or contamination.

Key challenges include latency and bandwidth limits that affect stability and realism of haptic feedback, as well as calibration, safety, cost, and training. Ongoing research aims to improve haptic rendering, control strategies, and autonomy to broaden use and reliability.