Enhanced Transparency in Haptics-Based Master-Slave Systems

@article{Tavakoli2007EnhancedTI,
  title={Enhanced Transparency in Haptics-Based Master-Slave Systems},
  author={Mahdi Tavakoli and Arash Aziminejad and R. V. Patel and M. Moallem},
  journal={2007 American Control Conference},
  year={2007},
  pages={1455-1460}
}
Bilateral master-slave teleoperation, in addition to requiring a haptics-capable master interface, often requires one or more force sensors, which increases the cost and complexity of the system particularly for robot-assisted surgery. In this paper, we investigate the benefits of using force sensors that measure hand/master and slave/environment interactions, and study the effects of the bilateral control structure and in particular the presence of force feedforward and local force feedback on… CONTINUE READING
Highly Cited
This paper has 37 citations. REVIEW CITATIONS

Citations

Publications citing this paper.
Showing 1-10 of 20 extracted citations

References

Publications referenced by this paper.

Similar Papers

Loading similar papers…