Realization of Virtual Master Manipulator Using Bilateral Control

Bilateral control has been widely used in many industries including medical surgery. Slave manipulator usually works in a remote site or in a hazardous environment. Master operator is sensing the environment through the slave manipulator. Usually doctors are very sensitive to the tactile sensation they feel through medical tools. If bilateral control is used in surgery, ideally doctor should feel the feeling of the body tissue and the reaction force from the specialized tool. In this paper specialized tool is replaced by a virtual model.