Abstract
This paper proposes a novel configuration of a teleoperation system suitable for micro object handling. In the system, a CRT display monitor is placed beneath a table with its face up keeping both surface on the same plain. An Operator applies necessary operations to the image of target object on the monitor by utilizing a pencil-shaped master manipulator with force feedback function. This configuration derives from features of manual micro tasks. The system has three characteristic features: firstly the system enables intuitive teleoperation because it realizes the coincidence of operating coordinates and force sensing coordinates with monitoring coordinates, secondly the pencil-shaped master manipulator enables sensitive bilateral micro operation because of its lightness of moving components and its small inertia, thirdly the operator can command with a wide dynamic range of force feedback because they holds the master manipulator in a pen-holder grip fixing side of their hands during operation, i.e., the operator can feel fedback force simultaneously from both pressure/slip sensory receptor on their fingertips and muscle stretch sensory receptor on fingers during operation.
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© 1994 Springer-Verlag London Limited
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Sato, T., Ichikawa, J., Mitsuishi, M., Hatamura, Y. (1994). Micro teleoperation system concentrating visual and force information at Operator's hand. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027607
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DOI: https://doi.org/10.1007/BFb0027607
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-19905-2
Online ISBN: 978-3-540-39355-9
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