Global transparency analysis of the Lawrence teleoperator architecture

Naerum, Edvard; Hannaford, Blake

doi:10.1109/robot.2009.5152791

Cited by 29 publications

(16 citation statements)

References 15 publications

(16 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The forward flow haptic control is a control scheme where velocity is sent from the master to the slave and force from the slave to the master (Naerum and Hannaford, 2009). The full development of haptic control for our system is described in Fjellin (2013).…”

Section: Forward Flow Haptic Controlmentioning

confidence: 99%

An Ultrasound Robotic System Using the Commercial Robot UR5

et al. 2016

View full text Add to dashboard Cite

The use of robots in health care has increased dramatically over the last decade. One area of research has been to use robots to conduct ultrasound examinations, either controlled by a physician or autonomously. This paper examines the possibility of using the commercial robot UR5 from Universal Robots to make a tele-operated robotic ultrasound system. Physicians diagnosing patients using ultrasound probes are prone to repetitive strain injuries, as they are required to hold the probe in uncomfortable positions and exert significant static force. The main application for the system is to relieve the physician of this strain by letting the them control a robot that holds the probe. A set of requirements for the system is derived from the state-of-the-art systems found in the research literature. The system is developed through a low-level interface for the robot, effectively building a new software framework for controlling it. Compliance force control and forward flow haptic control of the robot was implemented. Experiments are conducted to quantify the performance of the two control schemes. The force control is estimated to have a bandwidth of 16.6 Hz, while the haptic control is estimated to have a bandwidth of 65.4 Hz for the position control of the slave and 13.4 Hz for the force control of the master. Overall, the system meets the derived requirements and the main conclusion is that it is feasible to use the UR5 robot for robotic ultrasound applications.

show abstract

Section: Forward Flow Haptic Controlmentioning

confidence: 99%

An Ultrasound Robotic System Using the Commercial Robot UR5

et al. 2016

View full text Add to dashboard Cite

show abstract

“…In theory, full transparency can also be obtained with a three-channel controller [7] and a two-channel controller [8], again under the assumption of ideal conditions. In literature, a lot of attention has been paid to both the transparency properties of the extended Lawrence Architecture [7], [9], [8], [10] and to the stability properties. The detailed stability analysis in [11], [12], [1], however, are restricted to two-channel controllers, while the analyses in [5], [6], [13] are very general.…”

Section: Introductionmentioning

confidence: 99%

“…Furthermore, it is relatively easy to delineate a range of stiffnesses [0, K max e ] with which the surgeon typically interacts. Here, the Bounded Environment Passivity method is used to study the stability properties of a 3-channel controller originating from the Extended Lawrence Architecture [10]. Compared to the Position-Force controller studied in [1], this 3-channel controller has more interesting properties.…”

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

View full text Add to dashboard Cite

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.

show abstract

“…Salcudean et al (2000) applied the four channel control algorithm to systems under rate control. Tavakoli et al (2007) analyzes the stability properties of a discrete implementation of the four channel controller and Naerum and Hannaford (2009) analyzes the global transparency properties of all possible forms of this control architecture. Hashtrudi-Zaad and Salcudean (1999) showed that perfect transparency could also be obtained with three instead of four channels.…”

Section: Bilateral Controlmentioning

confidence: 99%

Control of haptic interaction : an energy-based approach

Franken¹

View full text Add to dashboard Cite

Global transparency analysis of the Lawrence teleoperator architecture

Cited by 29 publications

References 15 publications

An Ultrasound Robotic System Using the Commercial Robot UR5

An Ultrasound Robotic System Using the Commercial Robot UR5

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

Control of haptic interaction : an energy-based approach

Contact Info

Product

Resources

About