Review on bilateral teleoperation with force, position, power and impedance scaling

Scaling is a technique used to transfer the dynamic motion properties of a remote device (slave robot) to the operator (master robot) or vice versa. This is a challenging task in terms of force, position, power, and impedance scaling approaches when master and slave manipulators are dissimilar. Teleoperation using scaling methods is a popular topic in motion control field, and many research papers are written on different scaling methods. This paper gathers the most important and diffused bilateral scaling technologies. It also integrates a collection of some of the widely used scaling technologies with a historical overview and the improvements proposed by a range of researchers.