Bluetooth technology is a radio system that is used for wireless networking. It uses a master/slave design, where any of the units can function as either a master or a slave allowing greater functionality. This paper will provide some general information on Bluetooth technology as well as the architecture and protocols used within a Bluetooth system. The layers that some of these protocols resi...

We introduce a position-exchange controller for bilateral teleoperation of flexible surgical robots. The controller requires the position of the master arm and the deformed shape of the slave arm, but no force information is required. The position-tracking controller of the master arm causes the master arm to follow the position of the tip of the slave arm. The position tracking controller of t...

In the presence of communication latency in a bilaterally controlled teleoperation system, stability and transparency are severely affected. In this paper, based on a passivity framework, admittance-type and hybrid-type delay-compensated communication channels, which warrant different bilateral control architectures, are introduced. Wave transforms and signal filtering are used to make the dela...

This paper presents design aspects of a forcere ecting, motion-scaling teleoperation system for use in microsurgery experiments. A coarse-macro-micro approach is proposed. Two magnetically levitated wrists | a macro-master and a micro-slave | would share a common base positioned at the surgical site by a coarse-motion transport robot. The discussion includes features of the proposed system, a d...

The Lyapunov based approach for synchronizing and identifying the unknown parameters in the Duffing system is presented in this paper. The strategy consists of proposing a slave system which has to follow asymptotically the desired Duffing system. The gains of the slave system are adjusted continually according to a convenient adaptation control law, until the measurable output error converges ...

The controller we developed for master-slave remote ultrasound diagnostics for an aging society has a variable impedance control capabi l i ty for master/slave manipulator positions. Diagnostic tasks are classified in remote ultrasound diagnosis, then methods and devices are proposed to change virtual viscosity based on diagnostic tasks. Remote ultrasound diagnostic experiments demonstrated tha...