A master-slave type remote ultrasound diagnostic system was developed. This paper presents and evaluates its control strategy. There is only one impedance controller that is located in the master site or the slave site or the relay point in the conventional impedance controller. Therefore, the effect of the time lag in transmitting force and position data becomes large in the conventional syste...

A new kind of rehabilitation system is presented in this paper, which can assist the paralyzed patients caused bystroke to perform specific exercise following the therapist’s intention. The master-slave rehabilitation concept is firstly introduced into the functional electrical stimulation (FES) system. This system consists of a master unit and a slave unit, and the two units are connected thro...

Based on general proportional integral (GPI) observers and sliding mode control technique, a robust control method is proposed for the master-slave synchronization of chaotic systems in the presence of parameter uncertainty and with partially measurable output signal. By using GPI observer, the master dynamics are reconstructed by the observations from a measurable output under the differential...

Laparoscopic surgery is a minimally invasive surgery that accelerates postoperative recovery, but it can only be performed by surgeons with advanced surgical skills. One of the main difficulties in laparoscopic surgery is restriction of free motion of the forceps because of limited degrees of freedom by the trocar. Recently, many master–slave manipulators with a remote center-of-motion mechanis...

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...

Most of the synchronization techniques belong to the master-slave (drive-response) system configurations in which the two chaotic systems are coupled in such a manner that the performance of the second (slave /response) system is influenced by the first (drive/master) system and the first system is not disturbed by the exertion of the second (slave / response) system. In this research paper, th...

In this paper the design of a multi-finger force-reflecting haptic interface device for teleoperational grasping is introduced. The haptic interface or “master” controller device is worn on the human operator’s hand and measured human finger positions are used to control the finger positions of a remote grasping manipulator or “slave” device. The slave may be a physical robotic grasping manipul...

In the previous works, we have proposed new control schemes based on the sliding mode control and impedance control in order to cope with varying time delays. However, the previous controller needs local compliance to reduce contact forces between the slave and environment. In this paper, we modify the previous one to have a sliding surface for the slave include an impedance model. Since the no...

The bidirectional coroutine is introduced as a mechanism for overcoming a shortcoming in the method of specification of the transfer of control between coroutines. An analogy is drawn between subroutines and coroutines by observing that coroutines, like subroutines, should not have to know with whom they are interacting. At present, most coroutine implementations require specific mention of the...