2014 年 3 巻 4 号 p. 344-349
At present, many kinds of robots are being developed for medical care. In medical care, operations often need to be performed at the micro-scale. This study was focused on a macro-micro bilateral control system that can transmit haptic sensations of a micro-environment between master and slave systems. The macro-micro bilateral control system amplifies disturbances; therefore, analysis, modeling and compensation of the disturbances were considered.
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