Voice control of a robotic forceps using hierarchical instructions

A robotic forceps is controlled by voice instructions in the framework of a fuzzy coach-player system. In the proposed system, we can deal with some fuzziness included in voice instructions and the system is composed of two instruction levels in order to increase the efficiency of voice instructions. One is a local instruction level that uses any action commands directly. The other is a global instruction level that uses a task command. Such a fuzzy coach-player system is applied for the manipulation of a robotic forceps and the effectiveness of the present system is verified through some actual experiments.