Tele-manipulation with two asymmetric slaves: Two operators perform better than one

Jeroen Van Oosterhout, Cock J.M. Heemskerk, Marco R. de Baar, Frans C.T. van der Helm, David A. Abbink

Research output: Contribution to journalArticleScientificpeer-review

6 Citations (Scopus)


Certain tele-manipulation tasks require manipulation by two asymmetric slaves, for example a crane for hoisting and a dexterous robotic arm for fine manipulation. It is unclear how to best design human-in-the-loop control over two asymmetric slaves. The goal of this paper is to quantitatively compare the standard approach of two co-operating operators that each control a single subtask, to a single operator performing bimanual control over the two subtasks, and a uni-manual control approach.

Original languageEnglish
Pages (from-to)128-139
JournalIEEE Transactions on Haptics
Volume11 (Jan-March 2018)
Issue number1
Publication statusPublished - 2017


  • Co-operation
  • Collaboration
  • Cost function
  • Cranes
  • dyads
  • Haptics
  • Maintenance engineering
  • Manipulators
  • Remote handling
  • Standards
  • Tele-manipulation


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