Energy Shaping Methods for Asymptotic Force Regulation of Compliant Mechanical Systems

Navarro-Alarcon, David; Liu, Yunhui; Romero, José Guadalupe

doi:10.1109/tcst.2014.2309659

Cited by 20 publications

(47 citation statements)

References 32 publications

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“…which implies (14) with T defined in (11). Therefore, the assertion of Proposition 2 has been proved.…”

Section: Appendix A: Proof Of Propositionmentioning

confidence: 62%

“…The second aspect is compensation of the noise effect. The last term in the feedback controller is unique compared with the literature and is fundamental to preserve the SPHS structure in the presence of noise.…”

Section: Resultsmentioning

confidence: 98%

“…Indeed, only the coordinate transformation preserves the deterministic PHS structure, while the stochastic case additionally requires the last term in in order to compensate the stochastic noise effect. Thus, Proposition is not a trivial extension of the deterministic results, for example, .…”

Section: Resultsmentioning

confidence: 99%

“…Remark We clarify the significance of the proposed transformations and with comparisons with the deterministic results in . The first aspect is the damping structure.…”

Section: Resultsmentioning

confidence: 99%

“…The second aspect is compensation of the noise effect. The last term in the feedback controller (18) is unique compared with the literature [8,14] and is fundamental to preserve the SPHS structure in the presence of noise. Now, we prove (practically) SISS property of the system (13) against both deterministic disturbance and stochastic noise.…”

Section: Remarkmentioning

confidence: 99%

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Input‐to‐state stability of stochastic port‐Hamiltonian systems using stochastic generalized canonical transformations

Satoh

2017

Intl J Robust & Nonlinear

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Summary As a practically important class of nonlinear stochastic systems, this paper considers stochastic port‐Hamiltonian systems (SPHSs) and investigates the stochastic input‐to‐state stability (SISS) property of a class of SPHSs. We clarify necessary conditions for the closed‐loop system of an SPHS to be SISS. Moreover, we provide a systematic construction of both the SISS controller and Lyapunov function so that the proposed necessary conditions hold. In the main results, the stochastic generalized canonical transformation plays a key role. The stochastic generalized canonical transformation technique enables to design both coordinate transformation and feedback controller with preserving the SPHS structure of the closed‐loop system. Consequently, the main theorem guarantees that the closed‐loop system obtained by the proposed method is SISS against both deterministic disturbance and stochastic noise. Copyright © 2017 John Wiley & Sons, Ltd.

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“…which implies (14) with T defined in (11). Therefore, the assertion of Proposition 2 has been proved.…”

Section: Appendix A: Proof Of Propositionmentioning

confidence: 62%

Section: Resultsmentioning

confidence: 98%

Section: Resultsmentioning

confidence: 99%

“…Remark We clarify the significance of the proposed transformations and with comparisons with the deterministic results in . The first aspect is the damping structure.…”

Section: Resultsmentioning

confidence: 99%

Section: Remarkmentioning

confidence: 99%

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Input‐to‐state stability of stochastic port‐Hamiltonian systems using stochastic generalized canonical transformations

Satoh

2017

Intl J Robust & Nonlinear

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Comparison of ultrasound scanning for scoliosis assessment: Robotic versus manual

Victorova

Lau

Lee

et al. 2022

Robotics Computer Surgery

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Background Ultrasound (US) imaging for scoliosis assessment is challenging for a non‐experienced operator. The robotic scanning was developed to follow a spinal curvature with deep learning and apply consistent forces to the patient's back. Methods Twenty three scoliosis patients were scanned with US device both, robotically and manually. Two human raters measured each subject's spinous process angles on robotic and manual coronal images. Results The robotic method showed high intra‐ (ICC > 0.85) and inter‐rater (ICC > 0.77) reliabilities. Compared with the manual method, the robotic approach showed no significant difference (p < 0.05) when measuring coronal deformity angles. The mean absolute deviation for intra‐rater analysis lies within an acceptable range from 0 to 5° for the minimum of 86% and maximum 97% of a total number of the measured angles. Conclusions This study demonstrated that scoliosis deformity angles measured on ultrasound images obtained with robotic scanning are comparable to those obtained by manual scanning.

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A force regulation guaranteeing input‐to‐state stability for a robot manipulator in a potential field

Satoh

Ebimoto

Saeki

2017

IEEJ Transactions Elec Engng

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This paper is concerned with the compliant force regulation for a robot manipulator interacting with a deformable environment described as a potential field. We extend the conventional result of the asymptotic force regulation based on the energy shaping method for a port-Hamiltonian system. Additionally, we add an extra compensator and equip a modified integrator dynamics to the proposed controller in order to introduce sufficient degrees of freedom. Those degrees of freedom enable dealing with a wider class of disturbances, which are possibly time-varying and appear in the dynamics of all the variables of the closedloop system. Moreover, first, we prove that the proposed controller achieves asymptotic force regulation at the desired position without disturbances. Second, we prove that the closed-loop system with the proposed controller becomes input-to-state stable with respect to any bounded disturbances and guarantees that both the solution of the system and resultant interaction force remain bounded.

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Energy Shaping Methods for Asymptotic Force Regulation of Compliant Mechanical Systems

Cited by 20 publications

References 32 publications

Input‐to‐state stability of stochastic port‐Hamiltonian systems using stochastic generalized canonical transformations

Input‐to‐state stability of stochastic port‐Hamiltonian systems using stochastic generalized canonical transformations

Comparison of ultrasound scanning for scoliosis assessment: Robotic versus manual

A force regulation guaranteeing input‐to‐state stability for a robot manipulator in a potential field

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