In micro-teleoperation, such as micro telesurgery, a scaling problem is one of the most important problems. The human operator must be able to identify the micro-environment and execute well the micro-teleoperation. In this study, a human-centered scaling is suggested. In the developed micro-teleoperation system, the human operator can choose the optimum scaling parameters in consideration of his ability of perception and motor control.

Force-reflection is significantly important in complex teleoperations. This study aims to develop a practical force-reflecting teleoperator through the Internet, and supposes the time delay in the order of several hundred milliseconds. Since the transmission delays existing in network vary rapidly and possibly randomly, it is very difficult to ensure the stability. Accordingly, in this paper, the time-varying controllers, which are adjusted to the round trip time delay observed online are designed based on the framework of the H/sub /spl infin// gain-scheduling. The validity of the proposed method is demonstrated by experiments of the bilateral teleoperation through the Internet.