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...

A generalized Mach–Zehnder-type interferometer equipped with cross-Kerr elements is proposed to convert N-photon truncated single-mode quantum states into (N +1)-mode single-photon states, which are suitable for further state manipulation by means of beam splitter arrays and ON/OFF-detections, and vice versa. Applications to the realization of uni-tary and non-unitary transformations, quantum s...

Robotic teleoperation is a key technology for wide variety of applications. It allows sending robots instead humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity, especially solving unexpected problems. A main challenge consists providing enough feedback to operator situation awareness thus create full immersion, as well off...

We present a telepresence system with visual and haptic feedback for a telemanipulation task in full six degrees-of-freedom. The employed teleoperator consists of an anthropomorphic manipulator arm mounted on a mobile base to allow task execution in wide remote environments. On the operator side we use a hyperredundant force-reflecting input device. Control issues of operator and teleoperator a...

This paper discusses the control design of roboticassisted minimally invasive surgery (MIS) with haptic feedback. The operational space control has a position-position telemanipulation architecture with the phantom in the loop, enabling telepresence in free-space and contact. The null space control guarantees that surgical kinematic constraints are fulfilled. Both task and posture control run a...

Passivity is a very suitable tool to stabilize a telemanipulator; in fact, implementing each part of a telerobotic system as a passive system and interconnecting them in a power preserving way it is possible to achieve an intrinsically passive system which is consequently characterized by a stable behavior. In [1] scattering theory has been exploited to build a communication channel that is pas...