Design and Analysis of Force Feedback in

Abstract — Telerobotics aims at extending eye-hand motion coordination through a computer network while preserving human dexterity. In this paper we present the design and analysis of force feedback in an Internet-based telerobotics. A master arm station (client) is connected to a slave arm station (server) using a distributed-component software system. The two stations exchanges (real-time) motion commands, force feedback, and stereo video information. To provide the operator with a feeling of the force applied on the remote tool a compliant force sensor is proposed. A six dof, parallel mechanism, wrist force sensor is described. The objective is to capture the force, relay the information over the Internet, and to display it on the operator using the master arm. Analysis of sensor kinematics aims at converting measured tip forces and torques into forces applied on the tool. Interaction and force feedback generated during contact with a rigid object, an elastic object, and a tissue are presented. Bouncing oscillations are observed in pre-contact phases depending on the force feedback gain. Analysis shows that teleoperation network delays and mechanism transmission elasticities contribute to system instability. Modeling of the interaction for the manipulated object should also be used to provide better teleoperation stability