TOWARD THE HAPTIC GUIDANT TELE-MICROMANIPULATION

This paper describes a haptic assisted human-robot shared tele-micromanipulation by assisting humans with different skill levels to improve the operability. This research is expected to enhance the teleoperation performance through the use of haptic guidance. A haptic guidant manipulation in a non-contact phase and a novel feedback strategy in a contact phase are integrated into a manipulation strategy to realize the haptic assisted telemanipulation. We testify the proposed algorithms on the developed single-master multi-slave(SMMS) tele-micromanipulation system which has a task to improve human's operability for human-robot shared control. Several pick-and-place experiments of Ikura and modelled stylen block verify the validity of the haptic assited manipulation strategy.