In this paper, the analysis and design of masterslave teleoperation systems are discussed. The goal of this paper is to build a superior master-slave system that can provide good maneuverability. We first analyze a one degree-of-freedom system including operator and object dynamics. Second, some ideal responses of master-slave systems are defined and a quantitative index of maneuverability is given, based on the concept of ideal responses. Third, we propose new control schemes of masterslave manipulators that provide the ideal kinesthetic coupling such that the operator can maneuver the system as though he/she were directly manipulating the remote object himself/herself. The proposed control scheme requires accurate dynamic models of the master and slave arms, but neither parameters of the remote object nor the operator dynamics is necessary. Last, the proposed control scheme is introduced to a prototype master-slave system and the experimental results show the validity of the proposed scheme. 11. MODELING OF ONE DOF SYSTEM A. Modeling of Arms, Object, and Operator Most master-slave systems consist of arms with multiple DOF. However, a one DOF system is considered in order to make the problem simple.

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A bilateral teleoperation experiment with Engineering Test Satellite 7 (ETS-VII) was conducted on November 22, 1999. Round-trip time for communication between the National Space Development Agency of Japan ground station and the ETS-VII was approximately seven seconds. We constructed a bilateral teleoperator that is stable, even under such a long time delay. Several experiments, such as slope-tracing task and peg-in-hole task, were carried out. Task performance was compared between the bilateral mode and the unilateral mode with force telemetry data visually displayed on a screen. All tasks were possible by bilateral control without any visual information. Experimental results showed that kinesthetic force feedback to the operator is helpful even under such a long time delay, and improves the performance of the task.

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In this papel; we propose a new concept of visuaWhaptic integaces called WYSIWYF display. The proposed concept provides correct visual/haptic registration using a visionbased object tracking technique and a video keying technique so that what the user can see via a visual interface is consistent with what he/she can feel through a haptic interface. Using Chroma Keying, a live video image of the user Shand is extracted and blended with the graphic scene of the virtual environment. The user's hand "encounters" the haptic device exactly when hidher hand touches a virtual object in the blended scene. The first prototype has been built and the proposed concept was demonstrated.

We have already proposed a bilateral control scheme with energy balance monitoring under time-varying communication delay. In this paper, experimental results using the proposed control scheme over the computer network are shown. In the previous work, we dealt with a situation when the communication is in breakdown. However, we did not discuss how to recover the system after the communication line comes back. In this paper, we also propose a way to recover the system from the communication blackout. Experimental results show the validity of the proposed methods.

This article presents a set of performance metrics, test methods, and associated artifacts to help progress the development and deployment of robotic assembly systems. The designs for three task board artifacts that replicate small part insertion and fastening operations such as threading, snap fitting, and meshing with standard screws, nuts, washers, gears, electrical connectors, belt drives, and wiring are presented. To support the evaluation of robotic assembly and disassembly operations, benchmarking protocols and performance metrics are presented that leverage these task boards. Finally, robot competitions are discussed as use cases for these task boards.