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Recently, robotic surgical support systems are in clinical use for minimally invasive surgery. In order to improve the operability of the robotic surgical systems, development of haptic forceps teleoperation systems is required to help surgeon's dexterity. In addition, the motion scaling, which can adequately reduce or enlarge the movements and tactile senses of the operator and the robot, is necessary...
Force-reflecting teleoperators in which the remote environment is kinesthetically coupled to the operator can considerably increase task performance. Wave-variable-based controllers can support the stable operation of force-reflecting teleoperators under arbitrary communication delays. Transparency in such systems is compromised in order to maintain stability. We had previously proposed a modified...
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