Bilateral force feedback control with virtual constraint for operational assistance

Recently, the study of real-world haptics is taken place actively. Haptics is scholarship about tactile sensation. Among them, the realization of high accuracy micro manipulation is demanded from many industrial fields such as medical treatment and manufacturing. In micro region, high accuracy positioning system and multi-degree of freedom system are needed for precise manipulation. However, operator must concentrate on operation of environment after approaching to position of environment when micromanipulation by multi-degree of freedom haptic system is considered. Conventional systems are not considered about the control system of the base of the manipulator after approaching to position of environment. Thus, the bilateral control using virtual compliance control is proposed in this paper. This is because the system is limited depending on the movement of the operator by implementing virtual compliance control. The viability of the proposed method and the reduction of the oscillation are shown by some experimental results.