{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:56:36Z","timestamp":1754157396939,"version":"3.41.2"},"reference-count":17,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2008,6,20]],"date-time":"2008-06-20T00:00:00Z","timestamp":1213920000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2008,6,20]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to present a design and verification through experiments of teleoperation of the 3 degrees\u2010of\u2010freedom micromanipulation system (MMS), in laboratory conditions.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The MMS is constructed from piezoelectric actuators sited in a flexure hinge mechanism. The nonlinearity, especially hysteresis, due to a voltage steering scheme is compensated for, via a second\u2010order Dahl friction model. A simple mechanical model is then constructed to capture the behavior of the MMS. Redundant force feedback sensors are applied to the MMS in order to achieve flexible operation via the so\u2010called fault\u2010tolerancing mechanism. Finally, a teleoperation scheme based on passivity formalism is proposed to achieve a stable teleoperation system.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The hysteresis curve due to voltage steering can be minimized. The fault\u2010tolerancing concept using redundant sensors for comfortable use of the MMS has been successfully performed. The teleoperated MMS via a commercially available PHANToM<jats:sup>\u00ae<\/jats:sup>has been conducted under ineligible telecommunication channel delay.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>The details of design, modelling and experimentations of the teleoperation of the MMS should promote the applicability of similar systems in the future.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910810876436","type":"journal-article","created":{"date-parts":[[2008,6,28]],"date-time":"2008-06-28T07:01:46Z","timestamp":1214636506000},"page":"337-346","source":"Crossref","is-referenced-by-count":5,"title":["Teleoperated 3\u2010DOF micromanipulation system with force feedback capability: design and experiments"],"prefix":"10.1108","volume":"35","author":[{"given":"Adha","family":"Imam Cahyadi","sequence":"first","affiliation":[]},{"given":"Yoshio","family":"Yamamoto","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022021319475302100_b1","unstructured":"Ando, M., Ohta, M. and Hashimoto, H. 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