Force reflection algorithm for improved transparency in bilateral teleoperation with communication delay

Polushin, Ilia G.; Liu, P.X.; Lung, Chung-Horng

doi:10.1109/robot.2006.1642144

Cited by 73 publications

(40 citation statements)

References 14 publications

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“…The force f e is reflected to the end-effector of the haptic device (1) using the principle of projection-based force reflection [13], [14]. The idea of projection-based force reflection is based on decomposition of the contact force into the interaction and the motion-inducing components.…”

Section: Stability Of Haptic Systems With Projection-based Force Reflmentioning

confidence: 99%

“…The projection-based force reflection (PBFR) algorithms were introduced for the bilateral teleoperator systems in [13] and further developed in [14], among other works. The central idea behind these algorithms is to improve the closed-loop stability of the teleoperator system by suppressing the "momentum-generating" component in the reflected force.…”

Section: Introductionmentioning

confidence: 99%

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L<sub>2</sub> stability of haptic systems with projection-based force reflection

Polushin

Hasan

2014

IEEE Trans. Haptics

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The problem of stability of haptic interaction with virtual objects is addressed, where the force reflection is implemented using the projection-based principle. A stability condition is derived that generalizes some previously known results to the case of projection-based force reflection. It demonstrates that, in this case, an additional design parameter is brought in that allows to increase the admissible stiffness of the virtual wall and decrease the update rate without changing the damping of the haptic device. A passivity based interpretation of the result is given in terms of interconnection of generalized passive systems where the excess of passivity of haptic device compensates the shortage of passivity of the virtual wall. In particular, it is shown that the projection-based force reflection allows to arbitrarily increase the excess of passivity of the haptic device without changing its physical damping.

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Section: Stability Of Haptic Systems With Projection-based Force Reflmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

L<sub>2</sub> stability of haptic systems with projection-based force reflection

Polushin

Hasan

2014

IEEE Trans. Haptics

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“…The applications of such systems include outer space exploration, undersea inspection, telesurgery, and handling objects in hazardous environments [4]- [8]. In order to validate the efficiency of teleoperation systems, the force information exerted by the human operator and remote environment has to be available to the researchers during system development [2], [5], [9]. In this work, we have developed a low-cost and low-weight force sensor that can be mounted on PHANToM Omni devices to obtain force data from conducting bilateral teleoperation.…”

Section: Introductionmentioning

confidence: 99%

“…In this regard, Lyapunov-based, passivity-based, and PD-like controllers have been presented to cope with teleoperation systems under communication delays [5], [11]- [13]. The study of teleoperation focuses on providing human operators with the sense of telepresence and guaranteed position tracking between the operator and remote environment [2], [9]. The haptic force feedback can also enhance system performance by providing the operators with the force information about remote robot in the workspace, such as in the applications of minimally invasive surgery [14], [15].…”

Section: Introductionmentioning

confidence: 99%

Design and implementation of a three-axis force sensor for applications to bilateral teleoperation systems

Khong

Liu

2015

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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In this paper, we have introduced the development of a low-cost and light-weight three-axes force sensor to be used under small loading forces. The proposed sensor was able to measure applied force by simply using single-axis contact sensors. The force sensor is a combination of 3D printed rigid parts, contact force sensors, signal transmitters, and an Arduino microcontroller. After calibration through simple linear regression, experiments with this new force sensor on static operating force were accurately achieved with small measurement tolerance. The developed force sensor was further applied to bilateral teleoperation systems to measure the external force exerted by the human operator and from the remote environment. The experimental results displayed a satisfactory performance of the teleoperation system using the proposed force sensor.

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“…One is an approach to utilize a sufficient condition for stability, and the other is an approach to utilize a necessary and sufficient condition for stability. Small gain theorem based design methods [2] and passivity theorem based design methods [3] have been proposed as sufficient condition based approaches. However, control performance is low.…”

mentioning

confidence: 99%

Influence of time-varying communication delay in adaptive controller based bilateral control system

Yashiro

2016

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)

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Communication delay between a master robot and a slave robot destabilizes a bilateral control system. And some re cent researches show that an adaptive controller that dynamically determines the master's controller gain depending on a stiffness of a contact object is effective to improve stability. However few researches show an influence of time-varying communication delay in adaptive controller based bilateral control systems. This paper therefore verifies an influence of time-varying communica tion delay. A PI (polynomial interpolation) with a schmitt trigger is utilized to estimate a stiffness of a contact object. Simulation results show that the PI based estimation method has a robust ness against a constant/time-varying communication delay. An experiment of a bilateral control over an IP (Internet Protocol) network emulator also show the validity of the estimation method. I. INT RODUCTIONThe da Vinci Surgical System (Intuitive Surgical, Inc.) or the PackBot (iRobot Corporation) has drawn attention as a practical application of teleoperated robots. The da Vinci is a medical robot for minimally invasive endoscopic surgeries, and more than 3000 robots are utilized in the world. The PackBot was utilized for the probe of Fukushima I Nuclear Power Plant after the Great East Japan Earthquake in 2011. However, since a human operator who manipulates the da Vinci or the PackBot does not feel a reaction force from a contact object, it is difficult to achieve sensitive motions such as a grasping of brittle materials. Hence some researchers have tried to transmit a reaction force to a human operator [1] . This kind of teleoperation is known as a bilateral teleoperation or a bilateral control. A bilateral control is a hybrid control of a position control and a force control. A slave robot tracks a master robot when a human operator manipulates the master robot. This is the position control. When the slave robot contacts with an object, the human operator feels a reaction force from the object. This is the force control. However, a bilateral control system becomes unstable when a feedback loop in the system includes communication delay.There are two kinds of approaches to design a bilateral control system with communication delay. One is an approach to utilize a sufficient condition for stability, and the other is an approach to utilize a necessary and sufficient condition for stability. Small gain theorem based design methods [2] and passivity theorem based design methods [3] have been proposed as sufficient condition based approaches. However, control performance is low. On the other hand, Nyquist the-978-1-4799-8464-0/16/$31.00 ©2016 IEEE orem based design methods have been proposed as necessary and sufficient condition based approaches. These methods fall into two category. One is a design method which does not take into account interference between a position control and a force control. The other is a design method which takes into account interference. Although the first method makes it easy to design a controller,...

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Force reflection algorithm for improved transparency in bilateral teleoperation with communication delay

Cited by 73 publications

References 14 publications

L<sub>2</sub> stability of haptic systems with projection-based force reflection

L<sub>2</sub> stability of haptic systems with projection-based force reflection

Design and implementation of a three-axis force sensor for applications to bilateral teleoperation systems

Influence of time-varying communication delay in adaptive controller based bilateral control system

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