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

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

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
ページ4468-4473
ページ数6
DOI
出版ステータスPublished - 2006 12 1
イベントIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
継続期間: 2006 11 62006 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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