FPGA based time domain Passivity Observer and Passivity Controller

Han, Bo Wen; Ryu, Jee-Hwan; Jung, In-Soung

doi:10.1109/aim.2009.5229976

Cited by 7 publications

(2 citation statements)

References 30 publications

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“…The small tracking error, result of the soft controller gains, was unnoticed. In future work a passivity observer passivity controller (PO/PC) [54] could allow installing less conservative controller gains and boost transparency without risking stability issues.…”

Section: Discussionmentioning

confidence: 99%

Evaluation of Haptic Feedback on Bimanually Teleoperated Laparoscopy for Endometriosis Surgery

Diez

Borghesan

Joyeux

et al. 2019

IEEE Trans. Biomed. Eng.

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Robotic minimal invasive surgery is gaining acceptance in surgical care. In contrast with the appreciated three-dimensional vision and enhanced dexterity, haptic feedback is not offered. For this reason, robotics is not considered beneficial for delicate interventions such as the endometriosis. Overall, haptic feedback remains debatable and yet unproven except for some simple scenarios such as fundamentals of laparoscopic surgery exercises. Objective: This work investigates the benefits of haptic feedback on more complex surgical gestures, manipulating delicate tissue through coordination between multiple instruments. Methods: A new training exercise, “endometriosis surgery exercise” (ESE) has been devised approximating the setting for monocular robotic endometriosis treatment. A bimanual bilateral teleoperation setup was designed for laparoscopic laser surgery. Haptic guidance and haptic feedback are, respectively, offered to the operator. User experiments have been conducted to assess the validity of ESE and examine possible advantages of haptic technology during execution of bimanual surgery. Results: Content and face validity of ESE were established by participating surgeons. Surgeons suggested ESE also as a mean to train lasering skills, and interaction forces on endometriotic tissue were found to be significantly lower when a bilateral controller is used. Collisions between instruments and the environment were less frequent and so were situations marked as potentially dangerous. Conclusion: This study provides some promising results suggesting that haptics may offer a distinct advantage in complex robotic interventions were fragile tissue is manipulated. Significance: Patients need to know whether it should be incorporated. Improved understanding of the value of haptics is important as current commercial surgical robots are widely used but do not offer haptics.

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Section: Discussionmentioning

confidence: 99%

Evaluation of Haptic Feedback on Bimanually Teleoperated Laparoscopy for Endometriosis Surgery

Diez

Borghesan

Joyeux

et al. 2019

IEEE Trans. Biomed. Eng.

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“…TDPA is one of the most used approach. The majority of the published papers on TDPA discusses the application of the technique to teleoperator systems based on two equal master and slave with few DoFs, 17,[30][31][32][33] most of them only 1 DoF. Hence, the study of the TDPA has not been deeply extended to more complex teleoperator systems yet.…”

Section: Introductionmentioning

confidence: 99%

Multi-DoFs Exoskeleton-Based Bilateral Teleoperation with the Time-Domain Passivity Approach

Buongiorno¹,

Chiaradia²,

Marcheschi³

et al. 2019

Robotica

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It is well known that the sense of presence in a tele-robot system for both home-based telerehabilitation and rescue operations is enhanced by haptic feedback. Beyond several advantages, in the presence of communication delay haptic feedback can lead to an unstable teleoperation system. During the last decades, several control techniques have been proposed to ensure a good trade-off between transparency and stability in bilateral teleoperation systems under time delays. These proposed control approaches have been extensively tested with teleoperation systems based on identical master and slave robots having few degrees of freedom (DoF). However, a small number of DoFs cannot ensure both an effective restoration of the multi-joint coordination in tele-rehabilitation and an adequate dexterity during manipulation tasks in rescue scenario. Thus, a deep understanding of the applicability of such control techniques on a real bilateral teleoperation setup is needed. In this work, we investigated the behavior of the time-domain passivity approach (TDPA) applied on an asymmetrical teleoperator system composed by a 5-DoFs impedance designed upper-limb exoskeleton and a 4-DoFs admittance designed anthropomorphic robot. The conceived teleoperation architecture is based on a velocity-force (measured) architecture with position drift compensation and has been tested with a representative set of tasks under communication delay (80 ms round-trip). The results have shown that the TDPA is suitable for a multi-DoFs asymmetrical setup composed by two isomorphic haptic interfaces characterized by different mechanical features. The stability of the teleoperator has been proved during several (1) high-force contacts against stiff wall that involve more Cartesian axes simultaneously, (2) continuous contacts with a stiff edge tests, (3) heavy-load handling tests while following a predefined path and (4) high-force contacts against stiff wall while handling a load. The found results demonstrated that the TDPA could be used in several teleoperation scenarios like home-based tele-rehabilitation and rescue operations.• high dynamic performance brushless motors, selected for further reduction of the inertia experienced by the patient; • more robust and reliable routing of the mechanical cable transmission; https://www.cambridge.org/core/terms. https://doi.

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Introduction to Haptic Systems

Kim,

Lee

2024

KAIST Research Series

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FPGA based time domain Passivity Observer and Passivity Controller

Cited by 7 publications

References 30 publications

Evaluation of Haptic Feedback on Bimanually Teleoperated Laparoscopy for Endometriosis Surgery

Evaluation of Haptic Feedback on Bimanually Teleoperated Laparoscopy for Endometriosis Surgery

Multi-DoFs Exoskeleton-Based Bilateral Teleoperation with the Time-Domain Passivity Approach

Introduction to Haptic Systems

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