A force-controlled pneumatic actuator for use in teleoperation masters

Ben-Dov, D.; Salcudean, Septimiu E.

doi:10.1109/robot.1993.292264

Cited by 14 publications

(8 citation statements)

References 4 publications

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“…This paper presents a novel approach for designing a control scheme for a master-slave system with force feed-back. The difference between figures presenting sensor methods thus far is that, in the case of the proposed control scheme, there are no sensors mediating between the manipulator body and the environment, relative to paper [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19]. The same thing can be noticed in self-sensing piezo-ceramic microcontrollers used for micromanipulation and in [2,20,28,32,41,[43][44][45][46].…”

Section: Scope Of Studymentioning

confidence: 99%

“…However, as research continued, it was noticed that the operator that enters into interaction with the master subsystem/manipulator should also be able to feel the precise effect of the environment on the slave subsystem side. The problem poses significant challenges in its practical application, due to large distances and the inevitable time delay [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19].…”

Section: Introductionmentioning

confidence: 99%

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S Teleoperation System Based on 1-DOF Pneumatic Maipulator

Saków

Miądlicki

Parus

2017

JAMRIS

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Section: Scope Of Studymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

S Teleoperation System Based on 1-DOF Pneumatic Maipulator

Saków

Miądlicki

Parus

2017

JAMRIS

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“…In the 1990’s, Ben-Dov et al [14] presented a force-controlled pneumatic actuator in a teleoperation application. Richer et al [15] developed a detailed mathematical model of pneumatics, based on which, a high performance pneumatic force-controller using sliding mode control was developed [16].…”

Section: Introductionmentioning

confidence: 99%

Design and Control of a 1-DOF MRI-Compatible Pneumatically Actuated Robot With Long Transmission Lines

Yang

Tan

McMillan

et al. 2011

IEEE/ASME Trans. Mechatron.

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This paper presents the design and control of an MRI-compatible 1-DOF needle driver robot and its precise position control using pneumatic actuation with long transmission lines. MRI provides superior image quality compared to other imaging modalities such as CT or ultrasound, but imposes severe limitations on the material and actuator choice (to prevent image distortion) due to its strong magnetic field. We are primarily interested in developing a pneumatically actuated breast biopsy robot with a large force bandwidth and precise targeting capability during radio-frequency ablation (RFA) of breast tumor, and exploring the possibility of using long pneumatic transmission lines from outside the MRI room to the device in the magnet to prevent any image distortion whatsoever. This paper presents a model of the entire pneumatic system. The pneumatic lines are approximated by a first order system with time delay, because its dynamics are governed by the telegraph equation with varying coefficients and boundary conditions, which cannot be solved precisely. The slow response of long pneumatic lines and valve subsystems make position control challenging. This is further compounded by the presence of non-uniform friction in the device. Sliding mode control (SMC) was adopted, where friction was treated as an uncertainty term to drive the system onto the sliding surface. Three different controllers were designed, developed, and evaluated to achieve precise position control of the RFA probe. Experimental results revealed that all SMCs gave satisfactory performance with long transmission lines. We also performed several experiments with a 3-DOF fiber-optic force sensor attached to the needle driver to evaluate the performance of the device in the MRI under continuous imaging.

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“…Due to the above advantages, pneumatic actuators have found use in various applications of bilateral teleoperation. For instance, (Ben-Dov and Salcudean, 1993) presented force-reflecting control of a 6-DOF haptic master actuated by flapper servovalves and low-friction cylinders. More recently, (Tadano and Kawashima, 2007) proposed a forceps manipulator for a surgical master-slave system capable of estimating external forces without using any force sensor.…”

Section: Introductionmentioning

confidence: 99%

Sliding-mode bilateral teleoperation control design for master–slave pneumatic servo systems

Moreau

Pham

Tavakoli

et al. 2012

Control Engineering Practice

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This paper presents a novel bilateral control design scheme for pneumatic master-slave teleoperation systems that are actuated by low-cost solenoid valves. The motivation for using pneumatic actuators in lieu of electrical actuators is that the former has higher force to mass ratio than the latter and is inert to magnetic fields, which is crucial in certain teleoperation applications such as MRI-guided, robot-assisted surgery. A sliding mode approach, called the three-mode control scheme, is incorporated into a two-channel bilateral teleoperation architecture, which can implement a position-position, force-force, or force-position scheme. An analysis of stability and transparency of the closed-loop teleoperation system is carried out. The proposed control design performance is experimentally verified on a single-degree-of-freedom pneumatic teleoperation system actuated by on/off valves. Experimental results show high accuracies in terms of position and force tracking under free-space motion and hard-contact motion in the teleoperation system. Another purpose of this paper is to demonstrate the possibility to improve the valve lifetime by increasing the number of control levels. To do this, a new control design, called the five-mode control scheme, is developed and compared with the three-mode scheme in time domain as well as in frequency domain.

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A force-controlled pneumatic actuator for use in teleoperation masters

Cited by 14 publications

References 4 publications

S Teleoperation System Based on 1-DOF Pneumatic Maipulator

S Teleoperation System Based on 1-DOF Pneumatic Maipulator

Design and Control of a 1-DOF MRI-Compatible Pneumatically Actuated Robot With Long Transmission Lines

Sliding-mode bilateral teleoperation control design for master–slave pneumatic servo systems

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