미세 수술용 원격조작을 위한 햅틱 감각 향상 방법

Abstract

A new control scheme is proposed for a bilateral teleoperation system for microsurgical operations. The main objective of the control scheme is to enhance kinesthetic perception of the operator. First, we classify kinesthetic perception in teleoperation, based on psychophysics, into three: detectable region, sensitivity of detection, and discriminable region. A new bilateral controller using impedance-shaping method is, then, proposed. The proposed controller can increase the kinesthetic perception by magnifying the transmitted impedance to the operator. Finally, performance of the proposed controller is verified and compared with previous bilateral controllers such as two-channel position-position (PP), two-channel force-position (FP), and transparency-optimized four-channel controller.