Implementing force-feedback in a telesurgery environment, using parameter estimation

Hansen, T.; Henningsen, Claus T.; Nielsen, Jens J. M.; Pedersen, Rasmus; Schwensen, John; Sivabalan, Senthuran; Larsen, Jesper Abildgaard; Leth, John

doi:10.1109/cca.2012.6402708

Cited by 2 publications

(1 citation statement)

References 5 publications

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“…With the progression and spreading of telemanipulation, and its special medical applications like telesurgery [3], the demand for reliable control systems had arisen, and researches are present. Besides telesurgery, the use of haptic information is also a studied area, for example rehabilitation robotics [4,5].…”

Section: Introductionmentioning

confidence: 99%

Efficiency of different control strategies in a force-feedback gripper

Lőrinczi

Szalay

Aradi

2013

Modelling in Medicine and Biology X

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This paper aims to introduce the development of a control system implemented for a force-feedback gripper mechanism, as well as the results of the experiments carried out on the device. The achievements shall be used in additional research related to medical purpose grippers, such as artificial hands. The aim of the current research is the improvement of the control system of artificial hands in order to assure the expected usability in the case of a simplified mechanical structure, and eventually to decrease the manufacturing cost of such devices to gain higher availability. First, the main units of the experimental device will be described. After the clarification of the basics, the applied control strategies shall be discussed in detail. From the basic PI/PID control, to adaptive fuzzy/neurofuzzy control, different methods are applied also on the simulation model and the experimental device itself. The main results of the research are the summary of differences between the particular control strategies. The properties of the controls, like speed, stability, accuracy and adaptivity are determined and a comparative analysis have been expounded. From the achieved results, the overall efficiency of the different control strategies can be determined, the type and properties of the optimal control can be described. Finally the aspects of further development will be discussed; on one hand, that means the design and production of a new, more complex mechanism; and on the other hand, the feedback of more state variables in order to gain more information for better function. Hopefully a complete five-finger gripper will be manufactured in the near future, and by the time it will be available, the results of this study can be utilized for its control system.

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Section: Introductionmentioning

confidence: 99%

Efficiency of different control strategies in a force-feedback gripper

Lőrinczi

Szalay

Aradi

2013

Modelling in Medicine and Biology X

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A Proposal of Haptic Technology to be Used in Medical Simulation

Sánchez-Sánchez¹,

Castro-Díaz²,

Gutiérrez–Giles³

et al. 2022

Haptic Technology - Intelligent Approach to Future Man-Machine Interaction

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For medical training aims, tele-operation systems have inspired virtual reality systems. Since force sensors placed on the robotic arms provide interaction force information that is transmitted to the human operator, such force produces a tactile sensation that allows feeling some remote or virtual environment properties. However, in the last two decades, researchers have focused on visually simulating the virtual environments present in a surgical environment. This implies that methods that cannot reproduce some characteristics of virtual surfaces, such as the case of penetrable objects, generate the force response. To solve this problem, we study a virtual reality system with haptic feedback using a tele-operation approach. By defining the operator-manipulated interface as the master robot and the virtual environment as the slave robot, we have, by addressing the virtual environment as a restricted motion problem, the force response. Therefore, we implement a control algorithm, based on a tele-operation system, to feedback the corresponding force to the operator. We achieve this through the design of a virtual environment using the dynamic model of the robot in contact with holonomic and non-holonomic constraints. In addition, according to the medical training simulator, before contact, there is always a free movement stage.

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Implementing force-feedback in a telesurgery environment, using parameter estimation

Cited by 2 publications

References 5 publications

Efficiency of different control strategies in a force-feedback gripper

Efficiency of different control strategies in a force-feedback gripper

A Proposal of Haptic Technology to be Used in Medical Simulation

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