"Variable Admittance and Passivity-Guaranteed Control for Exoskeleton-Based Heterogeneous Teleoperation in Physical Contact-Rich "

"This paper presents a novel heterogeneous bilateral teleoperation system with variable admittance control for contact-rich tasks. On the master side, the framework integrates a fully actuated upper-limb exoskeleton as the interface to enhance teleoperation ergonomics and workspace coverage. Conversely, restricted by control bandwidth limitations, position\/velocity-controlled slave robots are prone to severe force overshoots when interacting with high-stiffness environments. To address the imperative need for compliance in contact manipulation, a variable admittance control scheme is proposed that utilizes real-time force\/position feedback to track desired forces and effectively mitigate impact transients. Furthermore, to manage the elastic potential energy from variable stiffness, an energy tank is introduced to regulate master-slave controllers and guarantee system passivity. Finally, two groups of teleoperated contact experience with four scenarios are conducted to verify the feasibility of the proposed framework. Results show the proposed framework effectively constrains assembly contact forces, improves task success rates, and exhibits significant potential to enhance compliance\/adaptability in robotic teleoperation while ensuring task execution safety."