Abstract
The objective of this study is to develop a master-slave type robot for tele-surgery with a handle that can provide the user with the same feeling of a surgeon who is working with a surgical knife. We aim to develop a feedback technique with a magnetically suspended handle of the master side. This paper discusses the suspension characteristics of the magnetically suspended handle. The results of the experiments showed that the impulse response damped quickly when the proportional gain, K_P was 2.0 and the differential gain, K_D was 0.01. It also showed that the maximum force that can be applied to the shaft was 10 N.
