Elasticity detection and display of a grasped object using master-slave system

Perceiving and displaying the elasticity of grasped objects will make an important roll in a master-slave system, especially for the medical use. However, few of works on master-slave systems have been performed both detecting and displaing the reaction force in grasping. Manipulators that equiped with both detecting and displaying elasticity are requierd to improve precision and safety in grasping operation. A master-slave system that employs PVDF films for detection and MR fluid for display was developed to present the elasticity of grasped objects. This paper describes the detection system using a silicon rubber sheet and two PVDF films, the displaying mechanism by controlling the yield point of MR fluid, and the investigation of the characteristics of the system including the evaluation of examinees.