Human-robot interaction telerobot is currently a frontier and hot-point of robotics research. Telepresence is a core technique of the human-robot interaction. In this paper, we review the history of the telepresence telerobot technology, and illustrate the architecture of the telepresence telerobot system. There are three foundmental problems in force telepresence telerobot research:force perception, force feedback, and force control under time delay. Then we discuss its four key techniques, that is, sensing technique, force feedback and tactile display technique, control strategy under time delay, and predictive virtual environment modeling. We briefly introduce the development of telepresence telerobot research and its applications to nuclear detection and rehabilitation therapy areas at Southeast University during the past two decades. At last, we point out some future research directions of the human-robot interaction telerobot with force telepresence.

force telepresence  /  teleoperation  /  robot sensor  /  haptic display  /  time delay  /  control  /  virtual environment