Blended shared control utilizing online identification

Stephens, Trevor K.; Kong, Nathan J.; Dockter, Rodney; O’Neill, J. J.; Sweet, Robert; Kowalewski, Timothy M.

doi:10.1007/s11548-018-1745-3

Cited by 7 publications

(1 citation statement)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Following the same need of attributing the authority to the right user, the solution introduced in [347] reverts the authority to the trainer when he/she applies a force greater than a predefined one on his/her haptic device. In [348], in the context of surgical grasping, the robotic controller and the human inputs are linearly blended with a balance based on the computed confidence in the identification of the grasped object by an online identification of the grasped tissue. This strategy outperformed the regulation of the grasping forces to the desired target force compared to manual control.…”

Section: Nonlinear Blendingmentioning

confidence: 99%

Review of Advanced Medical Telerobots

et al. 2020

View full text Add to dashboard Cite

The advent of telerobotic systems has revolutionized various aspects of the industry and human life. This technology is designed to augment human sensorimotor capabilities to extend them beyond natural competence. Classic examples are space and underwater applications when distance and access are the two major physical barriers to be combated with this technology. In modern examples, telerobotic systems have been used in several clinical applications, including teleoperated surgery and telerehabilitation. In this regard, there has been a significant amount of research and development due to the major benefits in terms of medical outcomes. Recently telerobotic systems are combined with advanced artificial intelligence modules to better share the agency with the operator and open new doors of medical automation. In this review paper, we have provided a comprehensive analysis of the literature considering various topologies of telerobotic systems in the medical domain while shedding light on different levels of autonomy for this technology, starting from direct control, going up to command-tracking autonomous telerobots. Existing challenges, including instrumentation, transparency, autonomy, stochastic communication delays, and stability, in addition to the current direction of research related to benefit in telemedicine and medical automation, and future vision of this technology, are discussed in this review paper.

show abstract

Section: Nonlinear Blendingmentioning

confidence: 99%