A master-slave type remote ultrasound diagnostic system was developed. This paper presents its controller. The controller has impedance control capability for the master and slave manipulators' positions. And it has also continuous path(CP) control capability for the slave manipulator's orientation. The impedance control allows the master and slave manip-ulators to move according to the motion ...

Impedance control of a hydraulic servoactuator joint system is discussed in this paper. Impedance control imparts a desired behavior to a system, rather than it controls position or force individually. Due to nonlinear properties of hydraulic actuators, impedance control is difficult. The control strategy presented here involves a combined feedforward and feedback control. An impedance filter m...

This paper proposes an impedance control method that can regulate a virtual impedance between a robot manipulator and external objects using visual information. The conventional impedance control method is not useful in some cases where no interaction force between the arm and its environment exists, although it is one of the most effective control methods for manipulators in contact with the e...

A simplified method to manufacture durable, glass-insulated, tungsten microelectrodes with sufficient control of the final electrode impedance is described. This method requires only two instruments, an electrolytic etcher for wires and pipette puller, for manufacturing these electrodes. The manufacture of these electrodes involves 3 steps: (1) etching tungsten wire to sharpen the tip, (2) insu...

t-shape profile barriers are one of the most successful barriers among many different profiles. it has been shown that using welled diffusers on the top of t-shaped barriers makes a reactive barrier that shows better performance than that of any other used profile barriers compared with their equivalent absorbent barrier. the contribution of the top surface of reactive t-profile barriers to the...

1. I n t r o d u c t i o n One of the most reliable strategies to manage the interaction of the end effector of a robot manipulator with a compliant environment is impedance control [1]. The major i ty of interaction control schemes refer to three-degree-of-freedom (dof) tasks in that they handle end-effector position and contact linear force. On the other hand, in order to perform six-dof task...