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Improvement of response isotropy of haptic interface for tele-micromanipulation systems

In this paper, control schemes for the master haptic interface are mainly discussed. We proposed the tele-micromanipulation systems, which enables human operators to operate micro-tasks, such as assembly or manufacturing, without feeling the stress. The paper focuses on the haptic interface, which gives the operators the feeling of presence. The mechanism applied in the human interface device often has a reasonable immanent friction. This friction must be compensated in a way that the operator cannot feel this friction force, but only the force from the manipulated environment. The main contribution of this paper is a direct model based chattering free sliding mode friction estimator and a compensator for the human interface device. The experimental results obtained are presented.