In this paper, a passive bilateral control law is proposed for a teleoperator consisting of a pair of n-DOF nonlinear robotic systems. The control law ensures energetic passivity of the closed-loop teleoperator with power scaling, coordinates motions of the master and slave robots, and installs useful task-specific dynamics for inertia scaling, motion guidance and obstacle avoidance. Consequent...

Over the last 50 years, master-slave teleoperation has become a widespread and successful field of research. This discipline explores how to perform tasks using a robot on an environment with haptic feedback about robot-environment interaction being provided to the human operator. Most of the master and slave manipulators used in teleoperation are electrically actuated. However, in some particu...

Continuum robots are increasingly used in medical applications and the master–slave-based architectures still most important mode of operation human–machine interaction. However, existing master control devices not fully suitable for either mechanical mechanism or method. This study proposes a brand-new, four-degree-of-freedom haptic joystick whose main stick could rotate around fixed point. Th...

In this paper, we analyze the synchronization problem of master-slave probabilistic Boolean networks (PBNs). The master Boolean network (BN) is a deterministic BN, while the slave BN is determined by a series of possible logical functions with certain probability at each discrete time point. In this paper, we firstly define the synchronization of master-slave PBNs with probability one, and then...

OBJECT Robotic surgery can be applied as a novel technology. Our master-slave microscopic-micromanipulator system (NeuRobot), which has a rigid endoscope and three robot-arms, has been developed to perform neurosurgical procedures, and employed successfully in some clinical cases. Although the master and slave parts of NeuRobot are directly connected by wire, it is possible to separate each par...

INTRODUCTION It has been percieved by the community that one of the future significant challenges for designing surgical robots is the enhancement of robot’s mobility subject to the confined environments. Recently, Simaan, Taylor et al. [1-5] have developed a telesurgical robot for this kind of concerns. Their purpose is to design a highdexterious surgical robot which can effectively work in a ...

A Multi-agent based coordination scheme for chain formations of mobile robots, employing geometric constraint satisfaction rules, is presented. Applying this architecture on mobile robot swarms, snake-like real-time motion and reactive obstacle avoidance is achieved. A “Master – Slave” relationship is used, where a controller agent’s motion is propagated to its two neighbouring ones in the chai...

Aimed to develop a virtual robot aided surgery system which can represent the reality surgery process and realize force feedback by digital human tissue biomechanical information and outer force feedback instrument, human tissue geometrical and biomechanical modeling, biomechanical model calculation, force feedback instrument design, control algorithm are described. Finally, experiment was cond...