Maximization of the stability allowable region of the impedance scaling for telemanipulators

There are increasing applications of using telemanipulators, the master and slave arrangement, to perform delicate and micro actions, such as in minimally invasive surgery and micro-nano manipulation. Task-oriented design for the slave and operator-oriented design for the master plus proper selections of position scaling in the forward path and force scaling in the backward path improves the overall dexterity of manipulating objects. One of the key points to enhancing an operator´s dexterity is the modification of the working impedance felt on the master site so that the operator can manipulate the object more skillfully. In this paper, we reduced the limitation of choosing impedance scaling by maximizing the stability allowable impedance scaling region. The method is based on Routh stability criterion and optimal tuning of the control gains.