Control of haptic interaction : an energy-based approach

On autonomous and teleoperated aerial service robots

“…In fact, it is possible to switch OFF the damping effect completely when there is too much energy in the energy tank. However, it may result in a continuous ON-OFF effect that could be distracting for the operator [23]. On the contrary, with the proposed saturated damping, one can accomplish the desired task passively and effectively.…”

“…The idea has been formalized and the use of energy tanks has been proposed in [23]. In energy-based haptic teleoperation, actions that ensure the passivity of the system are taken by monitoring the energetic state of the system.…”

“…Many researchers have tried to address these issues since the introduction of teleoperation systems half a century ago [82], [23].…”

“…The field encompasses telemanipulation of linear and nonlinear systems [93], real and virtual systems [12], [74], single and multidimensional robots [29], kinematically similar and dissimilar master and slave robots [23], [101], at different scales [99] with and without the presence of non-negligible network-induced imperfections, such as time-varying delays and packet losses [12], [4]. Their application ranges from space [106] to medical surgery [112], and includes production, security, virtual environment, and underwater robotics [31].…”

Robotic flexible endoscope

“…Robotic concepts are based on remote controlled electro-mechanical steering of the endoscope and its instruments. Key factor is that user interface and tools are mechanically decoupled and computer intelligence is integrated, as known from telemanipulation systems [Franken, 2011]. The physician uses a remote positioned master console (user interface) to control a slave robot (actuated tools) positioned near the patient.…”