A force-controlled human-assistive robot for laparoscopic surgery

Heidingsfeld, M. L.; Feuer, Ronny; Karlovic, Kristian; Maier, Thomas; Sawodny, Oliver

doi:10.1109/smc.2014.6974460

Cited by 7 publications

(5 citation statements)

References 13 publications

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“…Therefore, it is particularly relevant to study the complex human-machine interfaces resulting from this clinical task. Mechatronic systems dealing with the human body are typically the object of research activities in a wide set of applications, as collaborative robots (cobots) environment [23,24] or robotics for rehabilitation [25,26] and surgery [27]. In many applications, it is critical to keep the interaction forces below specific thresholds or to control the actual evolution of forces rising due to human-machine collisions over time.…”

Section: Introductionmentioning

confidence: 99%

Automatic Electromechanical Perturbator for Postural Control Analysis Based on Model Predictive Control

2021

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Objective clinical analyses are required to evaluate balance control performance. To this outcome, it is relevant to study experimental protocols and to develop devices that can provide reliable information about the ability of a subject to maintain balance. Whereas most of the applications available in the literature and on the market involve shifting and tilting of the base of support, the system presented in this paper is based on the direct application of an impulsive (short-lasting) force by means of an electromechanical device (named automatic perturbator). The control of such stimulation is rather complex since it requires high dynamics and accuracy. Moreover, the occurrence of several non-linearities, mainly related to the human–machine interaction, signals the necessity for robust control in order to achieve the essential repeatability and reliability. A linear electric motor, in combination with Model Predictive Control, was used to develop an automatic perturbator prototype. A test bench, supported by model simulations, was developed to test the architecture of the perturbation device. The performance of the control logic has been optimized by iterative tuning of the controller parameters, and the resulting behavior of the automatic perturbator is presented.

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Section: Introductionmentioning

confidence: 99%

Automatic Electromechanical Perturbator for Postural Control Analysis Based on Model Predictive Control

2021

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“…To obtain relation between velocity and applied force, only damper component is used to design admittance gain as implemented in [15] and [16]. Also, virtual mass-damper model can be used to obtain a desired physical coupling with the environment by calculating the velocity from the measured forces as used in [17] and [18]. Furthermore, mass-spring-damper model is commonly used as an admittance gain and some works that used this model are [19] and [20].…”

Section: Overview Of Admittance Type Haptic Systemsmentioning

confidence: 99%

The Effects of Admittance Term on Back-Drivability

Işıtman

Ayit

Dede

2017

Mechanisms, Transmissions and Applications

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In the design of kinesthetic haptic devices, there are two main device structures namely impedance and admittance. In a customary scenario, the human operator back-drives the haptic device by holding and providing motion to the handle of the haptic device. If the type of transmission system does not allow passive back-drivability, then the back-drivability is satisfied by the use of an admittance controller. This type of a haptic device is said to have admittance structure. The selection of the admittance term in this controller plays a critical part in the task execution performance. Determination of this term is not trivial and the optimal parameters depend on not only the key performance criteria but also on the human operator. An experimental study is carried out in this work to determine the effect of the admittance term parameters on the performance of human operators in terms of the execution of the task in minimal time and the best accuracy. In this paper, the experimental set-up and the results of the experiments are presented and discussed.

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“…Human-machine physical interaction is one of the most relevant topics in modern robotics, being strategic in many applications, e.g., safety contacts in collaborative robots [27][28][29], tele-manipulation tasks [30], techniques for robot-aided rehabilitation [31,32] or surgery [33]. Due to the different complexity of these applications, several control techniques for contact force regulation have been developed, with different performance and specifications.…”

Section: Introductionmentioning

confidence: 99%

Hardware-In-the-Loop Equipment for the Development of an Automatic Perturbator for Clinical Evaluation of Human Balance Control

et al. 2020

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Nowadays, increasing attention is being paid to techniques aimed at assessing a subject’s ability to maintain or regain control of balance, thus reducing the risk of falls. To this end, posturographic analyses are performed in different clinical settings, both in unperturbed and perturbed conditions. This article presents a new Hardware-In-the-Loop (HIL) equipment designed for the development of an automatic perturbator for postural control analysis, capable of providing controlled mechanical stimulation by means of an impulsive force exerted on a given point of the body. The experimental equipment presented here includes the perturbator and emulates its interaction with both the subject’s body and the operator performing the test. The development of the perturbator and of the entire HIL equipment is described, including component selection, modeling of the entire system, and experimentally verified simulations used to study and define the most appropriate control laws.

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A force-controlled human-assistive robot for laparoscopic surgery

Cited by 7 publications

References 13 publications

Automatic Electromechanical Perturbator for Postural Control Analysis Based on Model Predictive Control

Automatic Electromechanical Perturbator for Postural Control Analysis Based on Model Predictive Control

The Effects of Admittance Term on Back-Drivability

Hardware-In-the-Loop Equipment for the Development of an Automatic Perturbator for Clinical Evaluation of Human Balance Control

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