力覚フィードバック型微細作業システムを用いた遠隔操作実験

概要

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This paper presents recent results of experiments conducted on our micro-manipulation system between Tokai University and Thailand (KMUTT) via the Internet. PHANToM is used as a haptic interface at the master side. The forces observed at the master side (Tokai Univ.) are transmitted to the slave side (KMUTT) while position commands are sent in the opposite direction. The results show that although forces are successfully fed back to the operator at the remote site, a communication time delay causes some problem when there is a sudden change in the force observed, such as an initial contact or lifting off the surface. It is verified through experiments that an employment of a virtual environment model can circumvent such a problem even if the model is still at a rudimentary level.