Characterization and evaluation of a bilateral command architecture for a tele-operated system

The objective of the stage was the evaluation of a bilateral teleoperation benchmark for a tele-echography system and the final goal was to test the effectiveness of the wave variables formulation on this architecture. When communicating over a channel that introduces a time delay we need to encode the signals in a way that helps prevent instability of the system: in this thesis we used the so called wave variables formulation applied on a real tele-echography architecture (used to perform an echography on a patient that is in a different location from the doctor performing it). As an additional aid (other than visual feedback) we realized a force feedback from the patient robot to the doctor's probe using data collected by a force sensor