Control system analysis and synthesis for a six degree-of-freedom universal force-reflecting hand controller

Handlykken, M.; Turner, T.

doi:10.1109/cdc.1980.271992

Cited by 55 publications

(29 citation statements)

References 3 publications

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“…In order to have a completely transparent system, the teleoperation system should behave as a massless, infinitely stiff connection between the endeffector of the master and the slave [4]. In that case, the human operator feels as if he/she is directly manipulating the remote environment.…”

Section: Introductionmentioning

confidence: 99%

Transparency Trade-Offs for a 3-Channel Controller Revealed by the Bounded Environment Passivity Method

Willaert

Corteville

Reynaerts

et al. 2010

2010 Third International Conference on Advances in Computer-Human Interactions

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In this paper, the Bounded Environment Passivity method [1] is applied to a 3-channel controller. This method enables the design of teleoperation controllers that show passive behaviour for interactions with a bounded range of environments. The resulting tuning guidelines, derived analytically, provide interesting tuning flexibility, which allows to focus on different aspects of transparency. As telesurgery is the motivation behind this work, the focus lies on correctly reflecting the stiffness properties of the environment. A comparison between the transparency and stability properties of this 3-channel controller and the same properties of the PositionForce controller demonstrates the interesting properties of the 3-channel controller. The theoretical results are verified experimentally on a 1 d.o.f. master-slave setup.

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Section: Introductionmentioning

confidence: 99%

Transparency Trade-Offs for a 3-Channel Controller Revealed by the Bounded Environment Passivity Method

Willaert

Corteville

Reynaerts

et al. 2010

2010 Third International Conference on Advances in Computer-Human Interactions

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“…Stability of the closed loop teleoperator must be maintained irrespective the behaviour of the operator and the environment. Likewise a transparent system is massless and infinitely stiff [3] and achieves the ideal kinesthetic coupling between master and slave robots. Ideal coupling is realized when the position responses of the master V m and the slave V s and the force responses of the master F m and the slave F s are respectively identical regardless the operator's and the manipulated environment's dynamics.…”

Section: Introductionmentioning

confidence: 99%

Stability and performance analysis of three-channel teleoperation control architectures for medical applications

Albakri

Liu

Poignet

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Tele-surgery has been more and more popular in robotassisted medical intervention. Most existing teleoperation architectures for medical applications adopt 2-channel architectures. The 2-channel architectures have been evaluated in literature and it is shown that some architectures, e.g. position-force (P-F), are able to provide the surgeon a reliable haptic sense of the working environment (transparency). However, stability of these P-F architecture is still a considerable concern especially when physiological disturbances exist in the remote environment. P-PF architecture is proved to provide a convenient alternative. With one more channel 3-channel teleoperation architectures present promising options due to their augmented design flexibility. This paper evaluates stability and transparency of general 3-channel bilateral teleoperation control architectures and provides a design framework guidelines to improve the architectures' stability robustness and optimize the transparency. Simulation evaluations are provided to illustrate how the optimal 3-channel teleoperation architecture is chosen for medical applications given their dedicated requirements.

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“…Ever since the first teleoperator was designed by Goertz in the late 1940s [1], researchers have sought to design teleoperators with the aim of achieving transparency. A transparent teleoperator is massless and infinitely stiff [2], and gives the human operator the sensation of manipulating the remote environment directly. Hannaford [3] presented a framework for characterizing the behavior of bilateral teleoperators by means of a two-port network model and its hybrid matrix representation.…”

Section: Introductionmentioning

confidence: 99%

Global transparency analysis of the Lawrence teleoperator architecture

Naerum

Hannaford

2009

2009 IEEE International Conference on Robotics and Automation

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Despite the frequent use of the Lawrence architecture since its introduction in the early 90's, its global transparency characteristics have not yet been fully analyzed. That is the goal of this paper. We state and prove necessary and sufficient conditions for transparency, with special attention to the information sent across the communication layer. In particular, it is shown that transparency can be preserved even though one, and even two, communication channels are set to zero. The results may serve as a guideline for transparent teleoperator design.

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Control system analysis and synthesis for a six degree-of-freedom universal force-reflecting hand controller

Cited by 55 publications

References 3 publications

Transparency Trade-Offs for a 3-Channel Controller Revealed by the Bounded Environment Passivity Method

Transparency Trade-Offs for a 3-Channel Controller Revealed by the Bounded Environment Passivity Method

Stability and performance analysis of three-channel teleoperation control architectures for medical applications

Global transparency analysis of the Lawrence teleoperator architecture

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