Realization of virtual master manipulator using bilateral control

A. M. Harsha, S. Abeykoon, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Bilateral control has been widely used in many industries including medical surgery. Slave manipulator usually works in a remote site or in a hazardous environment. Master operator is sensing the environment through the slave manipulator. Usually doctors are very sensitive to the tactile sensation they feel through medical tools. If bilateral control is used in surgery, ideally doctor should feel the feeling of the body tissue and the reaction force from the specialized tool. In this paper specialized tool is replaced by a virtual model.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Industrial Informatics, INDIN'06
Pages833-838
Number of pages6
DOIs
Publication statusPublished - 2007
Event2006 IEEE International Conference on Industrial Informatics, INDIN'06 - Singapore, Singapore
Duration: 2006 Aug 162006 Aug 18

Other

Other2006 IEEE International Conference on Industrial Informatics, INDIN'06
CountrySingapore
CitySingapore
Period06/8/1606/8/18

Fingerprint

Manipulators
Surgery
Tissue
Industry

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Harsha, A. M., Abeykoon, S., & Ohnishi, K. (2007). Realization of virtual master manipulator using bilateral control. In 2006 IEEE International Conference on Industrial Informatics, INDIN'06 (pp. 833-838). [4053497] https://doi.org/10.1109/INDIN.2006.275670

Realization of virtual master manipulator using bilateral control. / Harsha, A. M.; Abeykoon, S.; Ohnishi, Kouhei.

2006 IEEE International Conference on Industrial Informatics, INDIN'06. 2007. p. 833-838 4053497.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Harsha, AM, Abeykoon, S & Ohnishi, K 2007, Realization of virtual master manipulator using bilateral control. in 2006 IEEE International Conference on Industrial Informatics, INDIN'06., 4053497, pp. 833-838, 2006 IEEE International Conference on Industrial Informatics, INDIN'06, Singapore, Singapore, 06/8/16. https://doi.org/10.1109/INDIN.2006.275670
Harsha AM, Abeykoon S, Ohnishi K. Realization of virtual master manipulator using bilateral control. In 2006 IEEE International Conference on Industrial Informatics, INDIN'06. 2007. p. 833-838. 4053497 https://doi.org/10.1109/INDIN.2006.275670
Harsha, A. M. ; Abeykoon, S. ; Ohnishi, Kouhei. / Realization of virtual master manipulator using bilateral control. 2006 IEEE International Conference on Industrial Informatics, INDIN'06. 2007. pp. 833-838
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