Dual-User Teleoperation Systems: New Multilateral Shared Control Architecture and Kinesthetic Performance Measures
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Bibliographic record
Abstract
This paper proposes a novel six-channel multilateral shared control architecture for dual-user teleoperation systems. The proposed controller allows interaction between two users as well as the slave and environment through a dominance factor. The dominance factor adjusts the authority of the users over the slave robot and environment. The proposed controller is implemented on a haptic simulation test bed consisting of two planar twin pantograph haptic devices and a simulated pantograph as the slave robot. To analyze the kinesthetic performance of the proposed multilateral shared controller, a number of performance measures are extended or proposed. These measures are evaluated analytically and experimentally for various types of environments, users’ grasps, and levels of dominance of the users over the task.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it