Antagonistic Impedance Control for Pneumatically Actuated Robot Joints

Toedtheide, Alexander; Lilge, Torsten; Haddadin, Sami

doi:10.1109/lra.2015.2511663

Cited by 25 publications

(24 citation statements)

References 22 publications

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“…Advanced control laws are currently adapted for pneumatic actuators to control their stiffness. A state of the art in compliant control for pneumatic cylinder is given in [3], most of them are based on a sliding mode controller and need two proportional servovalves for a single cylinder.…”

mentioning

confidence: 99%

Stiffness control of pneumatic actuators to simulate human tissues behavior on medical haptic simulators

Herzig

Moreau

Lelevé

et al. 2016

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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In order to increase the realism of medical simulators, haptic interfaces could be used to simulate the patient's body behavior. It is especially interesting to reproduce the stiffness of different soft tissues with corresponding haptic behaviors. In this paper, two control laws, impedance control and backstepping associated with a closed-loop stiffness tuning, are introduced and applied to a pneumatic actuator. Both controllers have been obtained by using the AT transform which is suitable to model the behavior of a pneumatic system, in a strict-feedback form. Both control laws allow to tune the system stiffness. A comparison of their performances is presented, based on experimental results. I. INTRODUCTION Medical staffs require continuing hands-on training on medical methods. During their education, they usually train on cadavers or animals (when available), and more recently on passive and active simulators, before training on real patients. It has been proven that computer-based haptic training simulators lead to an efficient training for advanced tasks [1]. They offer residents a risk-free training in order to improve their experience before performing real procedures. However, to be efficient, this kind of training needs to be realistic. It is therefore necessary to simulate correctly the human body behavior, that is to say to obtain a realistic haptic feedback. A way to provide a realistic haptic rendering is to generate coordinated forces and motions on the haptic interface close to the ones measured on the real tool. Another way is to render an impedance (a stiffness and a damping) close to the one of the patient's body. Nowadays, for each simulation need, the corresponding haptic interface has to be dedicated to the application because generic commercial haptic devices are not always suitable [2]. For practical reasons, in commercial simulators, electric actuators are commonly used, in order to reproduce the force feedback mimicking the response of the human body behavior to medical tool interaction. Indeed, the control laws for electric actuators are quite well mastered and easy to set up. However they have drawbacks such as a low power to weight ratio and difficulties to provide at the same time a high torque at high speed, and mechanical limitations in their backdrivability. This limits their performances to render a variable stiffness. On the opposite side, pneumatic

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mentioning

confidence: 99%

Stiffness control of pneumatic actuators to simulate human tissues behavior on medical haptic simulators

Herzig

Moreau

Lelevé

et al. 2016

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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“…The development of fast servo-valves, coupled with modern robust nonlinear control laws based on sliding mode [45] and backstepping [46], allowed the development of accurate position or force controllers. Toedtheide et al provided a state-of-the-art compliant control for pneumatic cylinders in [47]. In [47], most of the solutions make use of a sliding mode controller and require two proportional servo-valves for a single cylinder.…”

Section: Pneumatic Control Chainmentioning

confidence: 99%

“…Toedtheide et al provided a state-of-the-art compliant control for pneumatic cylinders in [47]. In [47], most of the solutions make use of a sliding mode controller and require two proportional servo-valves for a single cylinder. More details are provided in Section 2.4.…”

Section: Pneumatic Control Chainmentioning

confidence: 99%

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

Senac

Lelevé

Moreau

et al. 2019

MTI

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Simulators have been traditionally used for centuries during medical gestures training. Nowadays, mechatronic technologies have opened the way to more evolved solutions enabling objective assessment and dedicated pedagogic scenarios. Trainees can now practice in virtual environments representing various kind of patient and body parts including physio-pathologies issues. Gestures, to be mastered, vary according to each medical specialty (e.g., ultrasound probe orientations, or forceps installation during assisted delivery). Hence, medical students need kinesthetic feedback in order to significantly improve their learning capabilities. Gesture simulators require haptic devices with variable stiffness actuators. Existing solutions do not always fit the requirements because of their significant size. Contrary to electric actuators, pneumatic technology is low-cost, available off-the-shelf and offers a better mass–power ratio. However, it presents two main drawbacks: nonlinear dynamics and need for a compressed air supply. During the last decade, we have developed several haptic solutions based on pneumatic actuation (e.g., birth simulator, epidural needle insertion simulator) and, recently, in a joint venture with Prisme laboratory, a pneumatic probe master device for remote ultrasonography. This paper recalls literature scientific approaches on pneumatic actuation developed in the medical context and illustrated with the aforementioned applications to highlight the benefits.

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“…The impedance control approach [124][125][126] is employed when a mechatronic device is in contact with its environment or with a human. It is an important control concept in modern robotics that is demonstrated by numerous applications [127][128][129][130][131][132][133][134][135][136][137][138][139][140]. The mechanical impedance, which features a force response of a body or a system of bodies on imposed velocity or position, can be described as a force-velocity relationship or force-position relationship.…”

Section: The Impedance Controlmentioning

confidence: 99%

The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft

Hace

2019

Energies

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In the serial hybrid electric propulsion system of a small propeller aircraft the battery state of charge is fluctuating due to the diversity of possible power flows. Overwhelming visual information on the cockpit displays, besides requiring visual pilot attention, increases pilot workload, which is undesirable, especially in risky flight situations. Haptic interfaces, on the other hand, can provide intuitive cues that can be applied to enhance and simplify the cockpit. In this paper, we deal with an enhanced power lever stick, which can provide feedback force feel with haptic cues for enhanced information flow between the pilot and the powertrain system. We present selected haptic patterns for specific information related to the fluctuating battery state of charge. The haptic patterns were designed to reduce pilot workload, and for easy use, safe and energy-efficient control of the hybrid electric powertrain system. We focus on the advanced control design for high-performance force feedback required for rendering fine haptic signals, which stimulates the sensitive haptics of a pilot’s hand-arm system. The presented control algorithm has been designed by the sliding mode control (SMC) approach in order to provide disturbance rejection and high-fidelity haptic rendering. The proposed control design has been validated on an experimental prototype system.

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Antagonistic Impedance Control for Pneumatically Actuated Robot Joints

Cited by 25 publications

References 22 publications

Stiffness control of pneumatic actuators to simulate human tissues behavior on medical haptic simulators

Stiffness control of pneumatic actuators to simulate human tissues behavior on medical haptic simulators

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft

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