The research investigates a new method of control for telemanipulators called bilateral impedance control. This new method differs from previous ap"roaches in that interaction forces are used as the communication signals betWeen the master and slave rooots. The main advantage of bilateral impedance control is that it permits the arbitrary specification of desired system performance characterist...

there are two significant goals in teleoperation systems: stability and performance. this paper introduces an lmi-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. the uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. the time delay in communicatio...

Master-slave active robot hands and endoscopes, which provide dexterous manipulations and wide views like human hands and eyes, are required to be constructed. We have previously developed a multi-DOF ultrasonic motor consisting of a spherical rotor and a bar-shaped stator. The rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a mult...

We study the synchronization region of two unidirectionally coupled FitzHugh-Nagumo systems, in a master-slave configuration, under the influence of external forcing terms. In the particular region where the slave anticipates the dynamics of the master system, we observe that the synchronization is robust to the different types of forcings. We then use the predict-prevent control method to supp...

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 ...

This paper presents a master-slave system applied to the remote diagnosis from echographic data. The motion of the master manipulator is remotely controlled by a physician and reproduced by a slave robot carrying the echographic probe. The contact force between the probe and the patient is fed back to operator allowing him to have a haptic virtual environment. The innovation of this haptic cont...

Sliding mode control has been used extensively in robotics to cope with parameters uncertainty, model perturbations and system disturbance. Bilateral robotic teleoperators are often required to provide a haptic interaction in telerobotic applications in which human kinesthetic sense is stimulated locally by remote environment. The paper deals with bilateral control for a force-reflection master...

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...

In master slave teleoperation schemes operated by humans, the interface with which the user interacts plays a key role. In this work an interface based on inertial sensors with applications for unilateral master slave robotic teleoperation is developed. The interface is composed of two portable inertial sensor units which are placed on the upper and lower arm to obtain acceleration and turning ...