Enhanced Transparency in Haptics-Based Master-Slave Systems

  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},
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
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