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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Hoshino, T. Ishigaki, H. Konishi, Y. Kondo, K. Suzuki, T. Saito, T. Kakuta, N. Wagatsuma, A. Mabuchi, K. |
| Copyright Year | 2001 |
| Description | Author affiliation: Dept. of Mech. & Intelligent Eng., Himeji Inst. of Technol., Japan (Hoshino, T.; Ishigaki, H.; Konishi, Y.; Kondo, K.) |
| Abstract | A master-slave manipulation system with a force-feedback function was developed for endoscopic surgery. The slave manipulation system, which is located at the head of a robot arm system, uses a forceps system which is capable of being opened and closed by a DC motor-driven arrangement. The master manipulator involves a mechanical link system which has the same structure and scale as the slave robot-arm system. The value of this system was verified experimentally using a bench-test system with one degree of freedom which has the same force-feedback mechanism as the master-slave manipulation system. Although the system became oscillatory and unstable when the master manipulator was operated using a force feedback system (simple force reflection servo controller), it was possible to make the system stable improving the force feedback system by adding impedance term (improved force reflection servo controller). |
| Starting Page | 3446 |
| Ending Page | 3449 |
| File Size | 506228 |
| Page Count | 4 |
| File Format | |
| ISBN | 0780372115 |
| ISSN | 1094687X |
| DOI | 10.1109/IEMBS.2001.1019571 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2001-10-25 |
| Publisher Place | Turkey |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Master-slave Surgery Force feedback Force control Robots Manipulators Reflection Servomechanisms Control systems Impedance |
| Content Type | Text |
| Resource Type | Article |
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