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Intuitive Control in Robotic Manipulation 59

rotation and one DOF of grasping, thus seven DOFs in total. The technical
challenges are accuracy, high responsiveness, and compactness on the slave
device for precise manipulations in microsurgery, and compact and light-
weight properties are highly required on the master device as a wearable
device. The details of these technical challenges are described in [13].

4.5 CONCLUSIONS
User-friendliness and comfort are increasing in demand with the control of
robotic systems, because robotic systems are no longer operated by only
engineering experts, but by a wider range of users. Demand for intuitive
controls for surgical robots is a representative example, and this demand will
grow further as applications for robotic systems spread.
Our study showed that self-motion significantly enhances multisensory
illusion in MSS, compared with classic RHI, and that the time delay is
correlated with the magnitude.
Multisensory illusion has been implicitly applied in existing robotic
control systems. For example, the surgical robotic system, da Vinci is
designed to realize ideal hand-eye coordination. In our test, the multisensory
illusion was elicited in its operation.
Prosthetics is another application that demands intuitiveness because the
user wears the prosthesis on a daily basis.
The presented approach has potential for robots designed explicitly to
take advantage of multisensory integration and illusion. Such a system can
potentially improve user-friendliness and comfort, and thus system
performance.

REFERENCES
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[2] R.J. Anderson, M.W. Spong, Bilateral control of teleoperators with time delay, IEEE
Trans. Autom. Control 34 (5) (1989) 494–501.
[3] W.S. Kim, B. Hannaford, A.K. Bejczy, Force-reflection and shared compliant control
in operating telemanipulators with time delay, IEEE Trans. Robot. Automat. 8 (2)
(1992) 176–185.
[4] N. Ando, J.H. Lee, H. Hashimoto, A study on influence of time delay in teleoperation,
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N. Sinanan, B. Hannaford, Teleoperation in surgical robotics – network latency effects