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Most conventional motion planning algorithms that are based on the model of the environment cannot perform well when dealing with the navigation problem for real-world mobile robots where the environment is unknown and can change dynamically. In this paper, a layered goal-oriented motion planning strategy using fuzzy logic is developed for a mobile robot(More)
In master-slave teleoperation applications that deal with a delicate and sensitive environment, it is important to provide haptic feedback of slave/environment interactions to the user's hand as it improves task performance and teleoperation transparency (fidelity), which is the extent of telepresence of the remote environment available to the user through(More)
—Besides stability, a high degree of transparency is also an essential requirement in order to enable operators to safely and precisely perform bilateral teleoperation tasks. An existing approach based on the wave transformation technique can make a two-channel teleoperation system insensitive to time delays by making the time-delayed communication channel(More)
— Minimally invasive surgery (MIS) is an alternative to open surgery where special instruments are inserted into the body cavity through tiny incisions in order to perform surgical procedures. In this paper, some design issues in a master-slave robotic system for use in MIS are discussed. First, we discuss the design of a user interface that can be used to(More)
Haptic feedback has the potential to provide superior performance in computer-integrated surgery and training. This paper discusses the design of a user interface that is capable of providing force feedback in all the degrees of freedom (DOFs) available during endoscopic surgery. Using the Jacobian matrix of the haptic interface and its singular values,(More)
* Various modes of sensory feedback to the user have the potential to enhance performance in robot-assisted surgery. In this paper, it is hypothesized that substituting or augmenting force feedback by visual representation of the force levels can potentially assist the user in limiting the amount of applied forces. In addition to confirming the above for a(More)
— Minimally invasive surgery involves inserting special instruments into the body cavity through tiny incisions in order to perform surgical procedures. In this paper, the design of a robotic master-slave system for use in minimally invasive surgery is discussed. This system is capable of providing haptic feedback to the surgeon in all available degrees of(More)