Tactile sensation improvement of a bilateral forceps robot with a switching virtual model

A. M.Harsha S. Abeykoon, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


Interest of tele-operation started many decades ago. In day today lives tele-operation is getting a reality with improved tele-communication systems. Bilateral Control is also a subset of tele-operation. Usually in bilateral control, force position information is exchanged between master and slave. This structure successfully transmits tactile sensation from the slave environment to the master operator. Good bilateral system is capable of transmitting tactile sensation to the master side. This capability is also known as the transparency of a system. If bilateral control is used in a surgery, ideally the doctor should feel the feeling coming from the body tissue together with the reaction force of the special surgical tool. We proposed [6], [7] a method to eliminate the special surgical tool with a simple tool tip and a virtual tool model. However, physical tool as well as the proposed virtual tool, add impedance to the system. Even if virtual model is used, impedances are essential to carry out the tool action. In this paper a novel method is proposed to switch off and on the virtual tool model when the tool action can be replaced by the environmental reaction forces. Experiment was carried out using a bilaterally controlled forceps robot. Results show the applicability of the idea.

Original languageEnglish
Title of host publicationAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
Number of pages6
Publication statusPublished - 2008
Externally publishedYes
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Publication series

NameInternational Workshop on Advanced Motion Control, AMC


Other10th International Workshop on Advanced Motion Control, AMC'08

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering


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