Creare has developed innovative control system algorithms and software for telerobotic applications in surgery and space. Telerobots consist of master and slave devices, where the master is manipulated by a human operator and the slave tracks the motion of the master. Telerobots are used when the environment that requires manipulation is not easily accessible—as in space or at a remote location—or to extend the capabilities of the operator by scaling motions and forces—which can be vital for applications like microsurgery. For complex and delicate tasks that require interaction with the environment, force feedback can significantly enhance an operator's ability to complete the specific task. However, when operated with even small communication delays between master and slave, force feedback often results in dangerously unstable systems.

Creare’s control system algorithms and software ensure telerobot stability and high performance in the presence of arbitrary time delays. Our algorithms and software are based on a sound theoretical foundation employing the concepts of passive communication protocols and impedance control and shaping. Our system includes controllers for master and slave manipulator servo systems, the communication link, and impedance shaping modules.

We have demonstrated the key features of our technology using PHANToM haptic displays from SensAble Technologies and a commercially available microsurgery system. Data from these examples verify the expected performance under fixed and variable time delays. These demonstrations were some of the first ever performed with actual bilateral telerobot hardware and with substantial (>0.1 sec) time delays.