Abstract
Master-slave system takes advantage of human cognitive and sensorimotor skills. However, in conventional system, the operator's visual and haptic frames of reference are widely separated. This lack of registration of sensory infor-mation causes a mental burden and contributes to a long learning curve in acquiring skills. Therefore, an intuitive teleoperation based on a natural and instinctive manner is strongly desired. In this study, keeping medical applications in mind, the master console with a compact spherical stereoscopic display, namedMicro Dome, is developed and the accurate visual/haptic registration is realized based on the framework of a mixed reality. The operator looks like a fortuneteller viewing a crystal ball and can use his full set of daily experiences. The validity of proposed system is demonstrated by experiments of teleoperation.
