Page 57 - Human Inspired Dexterity in Robotic Manipulation

CHAPTER 4

Intuitive Control in Robotic

Manipulation

Jumpei Arata
Department of Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan

Contents
4.1 Introduction 53
4.2 Multisensory Integration and Illusion 54
4.3 Robotically Enhanced Illusion 55
4.4 Multisensory Illusion on Master-Slave System 58
4.5 Conclusions 59
References 59

4.1 INTRODUCTION

Recently, robotic manipulation has been widely introduced in various
applications. The surgical robot is a promising example in which manipu-
lation is achieved using a master-slave system (MSS). As a representative
example of an endoscopic surgical robot, da Vinci (Intuitive Surgical Inc.,
US) is widely accepted in clinical practice, and its area of surgical applications
is spreading [1]. Tele-manipulation plays a key role in increasing clinical
effectiveness, improving the surgeon’s accuracy and dexterity. This allows
the surgeon to perform highly elaborate tasks during surgery.
To increase system performance, the system response time, haptic feed-
back, and hand-eye coordination have been discussed in the context of tele-
manipulation [2–5]. Generally, the time delay between master and slave
deteriorates system performance. Both kinaesthetic and tactile haptic
feedback have been reported to improve operability. Hand-eye coordina-
tion refers to a consistent alignment between user hand motions and visual
feedback and it has been reported that it significantly influences operability.
Intuitive control is receiving increased attention in the field of robotics,
as dextrous manipulation based on user control (such as MSS) becomes more
common.

Human Inspired Dexterity in Robotic Manipulation © 2018 Elsevier Inc.
https://doi.org/10.1016/B978-0-12-813385-9.00004-2 All rights reserved. 53