05382885 is referenced by 257 patents and cites 9 patents.

A robot suitable for micro-surgical application is formed by a robot arm having a position adjustable free end on which are mounted with their respective stators in fixed relationship a master and a slave robot. The position and actuation of the moving element of the master (master floater) and the moving element of the slave (slave floater) are used to couple their moment such that the master floater motion and forces are scaled down and followed by the slave and the slave floater motion and forces are scaled up and followed by the master. The sensed environment forces on the slave floater and sensed hand (environment) forces on the master can be used to improve the coordination between the master and the slave.

Title
Motion scaling tele-operating system with force feedback suitable for microsurgery
Application Number
8/103653
Publication Number
5382885
Application Date
August 9, 1993
Publication Date
January 17, 1995
Inventor
Joseph Yan
Vancouver
CA
Septimiu E Salcudean
Vancouver
CA
Agent
C A Rowley
Assignee
The University of British Columbia
CA
IPC
G05B 11/00
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