Fuzzy-Observer-Based Hybrid Force/Position Control Design for a Multiple-Sampling-Rate Bimanual Teleoperation System

In this paper, a novel fuzzy-observer-based hybrid force/position control method is investigated for a bimanual teleoperation system in the presence of dynamics uncertainties, random network-induced time delays, and multiple sampling rates of remote control signals and local measured data. The system structure consists of two pairs of position observers and contact force/torque estimators. The position observers are designed based on...