Adjusting Output-Limiter for Stable Haptic Rendering in Virtual Environments

Lee, Kyungno; Lee, Doo Yong

doi:10.1109/tcst.2008.2011281

Cited by 23 publications

(7 citation statements)

References 26 publications

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“…The minimum Coulomb friction f co and damping friction f d in equations (5) to (8) are inherent to the environment and can be calculated based on the work by Kyungno and Doo. 14 The total energy E hsme (kþ1) of the HSME from sampling instant 0 to sampling instant (kþ1)T is…”

Section: The Maximum Output Forcementioning

confidence: 99%

“…where T is the sampling period, E h ( k ) is the total energy in the haptic device, E s ( k ) is the total energy in the sampler and holder, and E e ( k ) is the sum of the total energies in the MOFC and virtual tissues. The following equations can be derived according to Kyungno and Doo 14…”

Section: Mofc Algorithmmentioning

confidence: 99%

“…The minimum Coulomb friction f co and damping friction f d in equations (5) to (8) are inherent to the environment and can be calculated based on the work by Kyungno and Doo. 14…”

Section: Mofc Algorithmmentioning

confidence: 99%

“…In order to maximize system fidelity, Kyungno and Doo presented an adjusting output-limiter (AOL) for stable haptic rendering in virtual environments. 14 The AOL maximized the system fidelity and guaranteed system passivity. However, the study included only a simulation in a generally deformable virtual environment, and system transparency was not discussed in detail.…”

Section: Introductionmentioning

confidence: 99%

“…Inspired primarily by the ideas presented in the literature, 14 this article develops a maximum output force controller (MOFC) for virtual surgical interactions. The MOFC observes the energy flow in system at every sampling instant.…”

Section: Introductionmentioning

confidence: 99%

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The maximum output force controller and its application to a virtual surgery system

Liu

et al. 2018

International Journal of Advanced Robotic Systems

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It is difficult to achieve ideal virtual surgery transparency and stability when virtual tissue stiffness and damping are high. Typically, the stability of the surgery system is improved, while its transparency is sacrificed. In order to achieve high transparency in virtual surgical interactions, a maximum output force controller based on passive theory is proposed in this work. This controller is then applied in a virtual surgery system. The maximum output force controller predicts the maximum allowable output force above which the system passivity is broken and limits the force presented to the operator to this amount. The main contributions of this work include the following two parts: firstly, the maximum output force controller is developed and applied to a virtual surgery system; secondly, a new criterion for transparency is presented and analyzed for the level of transparency that can be achieved for a virtual surgical system when the stability is guaranteed. Experimental results show that the maximum output force controller can guarantee stability of the virtual surgical interaction with maximum transparency even when the virtual tissue stiffness and damping are high. In addition, the maximum output force controller is a self-adaptive controller. It works well without modification, regardless of the virtual tissue stiffness and damping.

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Section: The Maximum Output Forcementioning

confidence: 99%

Section: Mofc Algorithmmentioning

confidence: 99%

“…The minimum Coulomb friction f co and damping friction f d in equations (5) to (8) are inherent to the environment and can be calculated based on the work by Kyungno and Doo. 14…”

Section: Mofc Algorithmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations