Tactile sensation improvement of a bilateral forceps robot with a switching virtual model

A. M.Harsha S. Abeykoon, Kouhei Ohnishi

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

Interest of tele-operation started many decades ago. In day today lives tele-operation is getting a reality with improved tele-communication systems. Bilateral Control is also a subset of tele-operation. Usually in bilateral control, force position information is exchanged between master and slave. This structure successfully transmits tactile sensation from the slave environment to the master operator. Good bilateral system is capable of transmitting tactile sensation to the master side. This capability is also known as the transparency of a system. If bilateral control is used in a surgery, ideally the doctor should feel the feeling coming from the body tissue together with the reaction force of the special surgical tool. We proposed [6], [7] a method to eliminate the special surgical tool with a simple tool tip and a virtual tool model. However, physical tool as well as the proposed virtual tool, add impedance to the system. Even if virtual model is used, impedances are essential to carry out the tool action. In this paper a novel method is proposed to switch off and on the virtual tool model when the tool action can be replaced by the environmental reaction forces. Experiment was carried out using a bilaterally controlled forceps robot. Results show the applicability of the idea.

本文言語English
ホスト出版物のタイトルAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
ページ526-531
ページ数6
DOI
出版ステータスPublished - 2008
外部発表はい
イベント10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
継続期間: 2008 3月 262008 3月 28

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC
1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
国/地域Italy
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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