Novel design of haptic devices for bilateral teleoperated excavators using the wave-variable method

Dongnam Kim, Kyeong Won Oh, Chang Seop Lee, Daehie Hong

Research output: Contribution to journalArticlepeer-review

15 Citations (Scopus)


As many high-rise buildings have been dismantled or demolished, researchers have developed many new deconstruction methods and devices. Among these, excavators equipped with attachments such as crushers or breakers have been most widely used on many deconstruction sites. This paper introduces a novel design and control algorithm of haptic devices that can be used to control excavators from a remote site. The newly designed remote control device is well matched with the excavator kinematics, so that it can be intuitively controlled by even a novice operator. The device also provides haptic sensation to the operator through force-feedback from the excavator. This grants the operator a better feeling of the tele-operated excavator and helps to avoid dangerous situations. In order to develop the tele-operation algorithm, this paper analyzes the force-feedback mechanism based on excavator kinematics and dynamics. A bilateral tele-operation control is then derived using the wave-variable method. The feasibility of this haptic device is verified through field tests.

Original languageEnglish
Pages (from-to)223-230
Number of pages8
JournalInternational Journal of Precision Engineering and Manufacturing
Issue number2
Publication statusPublished - 2013 Feb

Bibliographical note

Funding Information:
This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (2012-0000792) and the Human Resources Development program (No. 20124010203250) of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) grant funded by the Korea government Ministry of Knowledge Economy.


  • Bilateral control
  • Demolition
  • Excavator
  • Haptic
  • Wave-variable method

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Novel design of haptic devices for bilateral teleoperated excavators using the wave-variable method'. Together they form a unique fingerprint.

Cite this