Specific issues of force-reflected telemanipulating systems are addressed in this article. Our approach that might be used in robotic assisted surgery is based on combination of the best and complementary characteristics of a human operator and of a robot. Simultaneously the operator uses his own judgement, manually guides the slave robot, while the master robot (haptic interface) provides both...

The slave robot of the macro-micro teleoperation system presented in this paper is a 1-DOF piezo actuator including hysteresis nonlinearity. This nonlinear behavior makes robot control a complex task. In this research the nonlinear and uncertain dynamics of the slave robot has been entered directly into the teleoperation control loop. The LuGre friction model is used as the estimator of the hys...

In this paper a robotic system for the application in head and spinal surgery is described. The system, developed at the Surgical Robotics Lab (SRL), is distinguished from other systems by the complete interactive control by the surgeon. From the viewpoint of telemanipulation it can be interpreted as a combined master/slave manipulator. This system has already been applied clinically in maxillo...

EXOSTATION is an ESA-funded project aiming at developing a complete haptic control chain. The demonstrator is composed of a 7-DOF portable arm exoskeleton master, controlling an anthropomorphic slave robot interacting with its working environment. This system is meant to be used in telemanipulation and telepresence modes (master/slave control), making it usable in many applications including sp...

In teleoperation systems, the master robot receives force feedback from the remote slave side. Thus, the human operator can perceive the contact between the slave robot and its environment. Application of a force sensor at the slave robot improves the performance of the telepresence system in terms of transparency. Still, so far no approach allowing measured force feedback in time delayed multi...

This paper presents a model-mediated approach for teleoperation with haptic feedback in the presence of time delays on the order of seconds. The target application for the control scheme is teleoperation of robotic manipulators for space systems in geosynchronous orbit. Previous work in model-mediated teleoperation allowed operators to interact with a virtual model of the remote robot and envir...

This paper presents design aspects of a forcere ecting, motion-scaling teleoperation system for use in microsurgery experiments. A coarse-macro-micro approach is proposed. Two magnetically levitated wrists | a macro-master and a micro-slave | would share a common base positioned at the surgical site by a coarse-motion transport robot. The discussion includes features of the proposed system, a d...

The purpose of this study is to evaluate a construction robot master-slave teleoperation system with video cameras and force feedback based on behavioral and subjective measures. The system can provide an operator with a realistic force feeling according to the actuator condition using the velocity-driving force characteristics. The teleoperation system comprises two joysticks on the master sid...

Teleoperated robots for minimally invasive surgery make surgeons loose direct contact with the patient. We are developing a handheld, dexterous surgical robot that can be controlled with one hand only, while standing at the operating table. The instrument is composed of a master part (the handle) and a slave part (the tip). This work compares the performance of different control modes, i.e. dif...