Realization of virtual slave model of a forceps robot using bilateral control

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

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

5 Citations (Scopus)

Abstract

Bilateral control enables the operator to be placed away from the working environment. Slave manipulator usually works in a remote site or in a hazardous environment. Master operator is sensing the environment through the slave manipulator. Bilateral control can also be used in surgeries. 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 bilateral control is implemented for a forceps robot. Virtual spring acting on the end of the forceps is implemented to the bilateral control so that operator at the master side could feel the spring feeling together with the environment.

Original languageEnglish
Title of host publicationIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Pages4468-4473
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
EventIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
Duration: 2006 Nov 62006 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

OtherIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
CountryFrance
CityParis
Period06/11/606/11/10

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Harsha, A. M., Abeykoon, S., & Ohnishi, K. (2006). Realization of virtual slave model of a forceps robot using bilateral control. In IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics (pp. 4468-4473). [4153639] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2006.348100