Cooperative teleoperation with projection-based force reflection for MIS

Takhmar, Amir; Polushin, Ilia G.; Talasaz, Ali; Patel, Rajni V.

doi:10.1109/iros.2014.6942723

Cited by 5 publications

(8 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The comparative experimental results demonstrated the effectiveness of the analysis of motion, force, and distinguish the capability of the user. In [32], a projection-based force reflection (PBFR) was proposed to discover the influence of force feedback for the stability and performance in operating of the microsurgical robot. Compared with DFR, the performance of the proposed PBFR method could be greatly improved in the majority of situations.…”

Section: Microsurgerymentioning

confidence: 99%

Combined perception, control, and learning for teleoperation: key technologies, applications, and challenges

Luo

Yang

2020

Cognitive Computation and Systems

View full text Add to dashboard Cite

Teleoperation provides a promising way for human-robot collaboration in the unknown or unstructured environments to perform a cooperative task. It enables humans to complete a task at a remote side and combines both the human's intelligence and the robots' capabilities in a collaborative task. Therefore, it is necessary to conduct cross researches in terms of robotics, artificial intelligence, sensors, and mechatronics. This study covers the state-of-the-arts research in terms of perception, control, and learning. In this review, key technologies about information perception mechanism, control algorithms, human-robot interface, and robot learning strategies for teleoperation are introduced. Then, a comprehensive survey is summarised in representative applications in teleoperation, and the existing challenges and potential directions of the development are discussed.

show abstract

Section: Microsurgerymentioning

confidence: 99%

Combined perception, control, and learning for teleoperation: key technologies, applications, and challenges

Luo

Yang

2020

Cognitive Computation and Systems

View full text Add to dashboard Cite

show abstract

“…Theorem 1 : By calculating the invertible matrix H m to satisfy the inequality (26), the nonlinear disturbance observer (16) designed in the master controller (14) is asymptotically stable, and the observation errord m → 0 as t → ∞.…”

Section: Control Design For Master Robotmentioning

confidence: 99%

“…Theorem 3 : With the passive operating torque τ h and passive environmental torque τ e , by applying the master controller (14) with the nonlinear disturbance observer (16) and the slave controller (35) with the nonlinear disturbance observer (37), the closed-loop nonlinear bilateral teleoperation system with four-channel architecture is stable, and all the signals are bounded with the design of Lyapunov Function…”

Section: E Stability Analysismentioning

confidence: 99%

“…The associate editor coordinating the review of this manuscript and approving it for publication was Okyay Kaynak. and secure interim method to overcome these difficulties [14]. A typical bilateral teleopeation system is shown in Fig.1, which includes the human operator, master robot, communication channel, slave robot, and the environment.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Disturbance-Observer-Based Sliding Mode Control Design for Nonlinear Bilateral Teleoperation System With Four-Channel Architecture

et al. 2019

View full text Add to dashboard Cite

Good transparency performance (e.g., position tracking and force feedback) is an important issue in the control design of teleoperation systems. The four-channel architecture has advantages in the achievement of good transparency performance for teleoperation systems. However, most of the existing four-channel architectures are used in the linear teleoperation system, which cannot be well applied to execute tasks in the increasingly complicated operation environments. Thus, designing the four-channel architecture to achieve good transparency performance for nonlinear teleoperation systems with uncertainties is still a challenging issue. In this paper, the disturbance-observer-based sliding mode control design with a novel four-channel architecture is developed for the nonlinear bilateral teleoperation system to achieve a good transparency performance in the consideration of uncertainties and external disturbance, where the operating torque, master position, slave position, and the environment torque signals are transmitted through the communication channel. The reference tracking planner is designed in both the master and slave sides to produce the passive reference trajectories, and the disturbance-observer-based sliding mode controller is subsequently designed for the master and slave robots to achieve the good position tracking performance. The good force feedback performance can be achieved by the proper selection of plan parameters in the master reference tracking planner. Thus, the good transparency performance with both position tracking and force feedback can be achieved for the nonlinear bilateral teleoperation system with this novel four-channel architecture. The comparative simulation and experiment are implemented, and the results demonstrate good transparency performance achievement with the proposed control design. INDEX TERMS Nonlinear bilateral teleoperation, sliding mode control, disturbance observer, four channel, good transparency.

show abstract

“…In recent years, teleoperation systems have been widely used in many applications such as minimally invasive telesurgery [1, 2], telerehabilitation [3, 4] and telesonography [5]. Different control methods have been suggested for one‐DOF linear teleoperation systems [1, 6–10].…”

Section: Introductionmentioning

confidence: 99%

Impedance control of non‐linear multi‐DOF teleoperation systems with time delay: absolute stability

Sharifi

Salarieh

Behzadipour

et al. 2018

IET Control Theory & Applications

View full text Add to dashboard Cite

A nonlinear robust adaptive bilateral impedance controller is proposed to provide the absolute stability of multi-DOF teleoperation systems with communication delays, in addition to the force and position tracking performance. The proposed controller realizes two desired (or reference) impedance models for the master and slave robots using a new nonlinear robust version of the Model Reference Adaptive Control (MRAC) scheme. Using the absolute stability criterion, the robustness condition of the teleoperation system against communication delays is obtained, resulting in suitable adjustments of parameter values in the desired impedance models. In addition, using the Lyapunov stability theorem, the tracking performance of the master and slave robots and the robustness of the proposed controller against parametric and bounded unstructured modeling (non-parametric) uncertainties are proven. The performance of the proposed nonlinear bilateral controller is investigated by performing some experiments on nonlinear multi-DOF telerobots with and without communication delays.

show abstract

Cooperative teleoperation with projection-based force reflection for MIS

Cited by 5 publications

References 16 publications

Combined perception, control, and learning for teleoperation: key technologies, applications, and challenges

Combined perception, control, and learning for teleoperation: key technologies, applications, and challenges

Disturbance-Observer-Based Sliding Mode Control Design for Nonlinear Bilateral Teleoperation System With Four-Channel Architecture

Impedance control of non‐linear multi‐DOF teleoperation systems with time delay: absolute stability

Contact Info

Product

Resources

About