<title>Haptic identification of remote environment properties</title>

In teleoperation, automatic identification of remote environment properties such as object weight, size, and friction can assist the teleoperator in determining optimal manipulation strategies. Similarly, virtual training systems can be calibrated using such an automatic identification procedure. For those properties which can be described by parameterized constraint equations, this paper provides a method by which the active constraints can be determined during each portion of the remote manipulator's data stream. The parameterized properties can then be estimated from the appropriate data stream segments. The approach is validated for peg-in-hole insertion using a desktop teleoperator system.