Teleoperation and haptic interfaces
Download in PDF- Lecturer: Sinan Haliyo ()
- Course code:
- Student workload: 12 h of lectures, 12 h of labs
- Credits: 3 ECTS
- Specialization tracks: ROBOT (elective) SI (elective) MeDH (elective)
- Semester offered: S1 S2 S3 S4
- Language of instruction: French English
- Targeted audience: Eng. Sc. department Other : ENSAM
- Localization : PMC Campus Other :
Course Overview
This course unit covers the principles of robot teleoperation in a bilateral-coupling scenario with force feedback. The operator controls the motion of a robot in a remote environment and receives mechanical information through a handheld haptic interface. The teleoperation chain comprises three elements: the haptic interface manipulated by the operator (the master), the teleoperated robot (the slave), and the bilateral coupling scheme that transmits information in both directions. The course focuses both on designing this coupling scheme to achieve stable, transparent control and on designing haptic interfaces that capture the operator’s movements and stimulate the sense of touch. Particular attention is given to haptic perception, which is necessary for understanding the sensorimotor mechanisms involved.
Mots-clés : Teleoperation, bilateral coupling, haptic perception, transparency, stability, passivity, admittance, impedance
Prerequisites
Students should have previously acquired the following prerequisites to follow this course:
- Automatic control, control theory
- Mechanics, vibrations of discrete systems
- Python/C, linear algebra
Intended Learning Outcomes
By the end of this course, students will be able to:
- Design a bilateral-coupling scheme
- Design a haptic interface
- Analyze the haptic perception of an individual or population.
Indicative Teaching Sequence and Methods
| Week | C/TD/TP* | Content | Preparation | Learn.\ outc. |
|---|---|---|---|---|
| S1 | C1 | General concepts of teleoperation, transparency and stability. Direct and indirect coupling | AAV1 | |
| S2 | C2 | Bilateral-coupling schemes, impedance and admittance | AAV1 | |
| S3 | C3 | Haptic perception: biological foundations | AAV3 | |
| S4 | C4 | Psychophysics of touch | AAV3 | |
| S5 | C5 | Design of kinesthetic haptic interfaces | AAV2 | |
| S6 | C6 | Design of tactile haptic interfaces | AAV3 | |
| S7 | CC1 | |||
| S8 | TP1 | Introduction to a haptic interface | TOUT | |
| S9 | TP2 | Design of haptic feedback in simulation | TOUT | |
| S10 | TP3 | Design of a bilateral coupling | TOUT | |
| S11 | PR1 | Supervised project | TOUT | |
| S12 | PR2 | Independent project | TOUT | |
| S13 | PR3 | Independent project | TOUT |
- C/TD/TP respectively corresponds to lectures, tutorials and lab sessions.
Indicative Assessment of Intended Learning Outcomes (1st session)
| Week | Individ./group | In-person/remote | Type of exam | Evaluated outcomes | Scale % |
|---|---|---|---|---|---|
| S7 | Individual | In-person | Written exam | 25% | |
| S10 | Individual | Remote | Other | 25% | |
| S15 | Individual | Remote | TP | 50% |
2nde session
| Session | Individ./group | In-person/remote | Type of exam | Evaluated outcomes | Scale % |
|---|---|---|---|---|---|
| 2 | Group | In-person | Written exam | AAV 1-10 | 50% |
| 1 | Group | In-person | Quiz | AAV1-8 | 50% |
Bibliographic references
- PF Hokajem, MW Spong, « Bilatéral Teleoperation: An historic Survey », Automatica 42, pp 2025 – 2057 2006
- COIFFET Philippe, KHEDDAR Abderrahman, « Téléopération et Télérobotique », Lavoisier, 2022
- Vincent Hayward, Karon MacLean, « DIY Haptics, Part I & II », IEEE Robotics & Automation Magazine 14(4):88 – 104, 2008
Date of generation of this unit description: 06/10/2026
