The control scheme of underactuated master system in bilateral control for operation of fragile environment

In recent years, the demand for technique to transmit the touching sensation is increasing in a medical field. This paper shows that the Voice Coil Motor (the VCM)-based haptic system enables operators to grasp and manipulate a small and fragile environment with tactile sensation. In addition, bilateral control between different degrees-of-freedom system is inspected to acquire clearer tactile sensation than same degrees-of-freedom system. Moreover, the stiffness of the fragile environment is measured because the property of the environment is acquired. Finally, the validity of these methods are verified through experiments.