This paper establishes a novel control strategy for a nonlinear bilateral macro-micro teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the poor transparency during contact with the environment. To eliminate external force measurement, a force estimation algorithm i...

This work addresses selected practical issues regarding the development of a telerobotic system for 6 degrees of freedom (DoF) tasks. The system consists of a hyper redundant 10DoF haptic input device ViSHaRD10, a redundant 7DoF manipulator and a stereo vision system. The redundancy of the haptic input device is exploited to assure large convex workspaces and singularity free operation. The ant...

Teleoperation is the performance of a task or action from a distance. Although, in this sense, teleoperation can be applied to any operation performed from a distance, the term is most commonly associated with robotics and mobile robots and indicates the operation of such machines from a place far from the location of the machine [1]. Several factors are involved in a teleoperated robotic syste...

Abstract. This research focuses on developing and testing the highlevel control of a novel eight DOF hybrid robot using a DaVinci master manipulator. The teleoperation control is formulated as weighted, multi objective constrained least square (LS) optimization problems one for the master controller and the other for the slave controller. This allows us to incorporate various virtual fixtures i...

We present a setup to control a four nger anthro pomorphic robot hand using a dataglove To be able to accurately use the dataglove we implemented a nonlin ear learning calibration using a novel neural network technique Experiments show that a resulting position ing error not exceeding mm but typically mm per nger can be obtained this accuracy is su ciently precise for grasping tasks Based on th...

Piezoelectric actuators are widely used in micro manipulation applications. However hysteresis nonlinearity limits accuracy of these actuators. This paper presents a novel approach utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. A pas...

Teleoperation systems have been developed in order to allow a human operator to perform complex tasks in remote environments. Mobile robots can be considered as a particular example of telemanipulation systems, since they can be operated remotely to perform particular tasks. As an example, the inspection of underwater structures and the removal of mines are performed by mobile platforms control...

Objective: Kanazawa University introduced the da Vinci surgical system and the Radius surgical system. In this study, we compared the advantages and disadvantages of each system. Methods: The da Vinci system is a master-slave telemanipulation system, which provides hi-resolution 3D images. The Radius system is pair of hand-guided surgical manipulators. In this study we focus on the operability ...

BACKGROUND Investigation into the surgical application of robot technology continues to expand. We report on the first case series of robotic-assisted mitral valve (RAMV) repair in Canada with use of the da Vinci telemanipulation system (Intuitive Surgical, Sunnyvale, Calif.). METHODS Between February 2004 and August 2004, 10 patients with normal left ventricular function and severe mitral va...

This paper studies the effects of three methods of kinematic redundancy resolution on teleoperation performance with a redundant slave robot in telemanipulation. First, we derived three kinematic redundancy control modes expressing different trade-offs between kinetic energy level, joint usage, and joint limit avoiding. To validate our algorithms we performed simulations, autonomous robot tests...