Abstract
Microsurgery has attracted attention of people in recent years. However, as current surgery support system cannot present force sense to operators, it is difficult to use pratically. Using bilateral control, it will be possible to present kinesthetic sense to reduce the movement of hands and to perform safe microsurgery. In this paper, it aims at developing of the technology for the transmission of force sense in surgery support system. Bilateral control which conbines position control and impeadance control is proposed for tasks of moving object. Selection ratio of position control and impeadance control can be changed according to the interference of master-slave and environment, and the direction of force in consideration of operability and reproducibility.
