TABLE I.
Teleoperation system details and parameters
| Tracking system | |
| Hardware | Blackfly 1.4 MP Color GigE PoE camera + Mitutoyo FS70 microscope |
| Refresh rate | 50 Hz |
| Accuracy | 106 ± 30 µm |
|
| |
| Haptic system | |
| Hardware | Omega.6 6-DoF haptic interface (translational DoF active, rotational DOF passive) |
| Refresh rate | 1000 Hz |
| Workspace | 160×110 mm (translations limited to 2-DoF) |
|
| |
| Positioning system | |
| Hardware | Six electromagnets powered by Elmo Whistle 1/60 servo controllers |
| Refresh rate | 100 Hz |
| Positioning accuracy | 115 ± 104 µm (2.9% of the body length) |
| Velocity | 721 ± 132 µm/s |
|
| |
| Grasping system | |
| Hardware | Conrad TECI-1703 Peltier element 3.9 W |
| Refresh rate | 50 Hz |
| Open/close average elapsed time | 10 s |
|
| |
| Interconnection | |
| Hardware | real-time GNU/Linux machine |
| Stability control | time-domain passivity control, adapted from [68] |
| Master-slave position scaling factor | 0.2 |