Surgical Robotic Nurse

Chaman, Shilpa

doi:10.1109/iccons.2018.8663025

Cited by 3 publications

(1 citation statement)

References 10 publications

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“…Different from tactile interfaces, the contactless teleoperation needs to process the complex information from the sensors with the comprehensive analysis. With the process of vocal or optical signals, the manipulators could be tele-controlled not only for the simple motion in the Cartesian space [17][18], but also for the specific motion [19][20]. The complicated processing of the voice and pictures empowered the manipulator with much more intelligence and helped the robot interact with people naturally.…”

Section: Introductionmentioning

confidence: 99%

A Novel 6-DOF Force-Sensed Human-Robot Interface for an Intuitive Bilateral Teleoperation

Liu

Xie

et al. 2022

Preprint

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The teleoperation of a 6 degrees-of-freedom (DOF) manipulator is one of the basic methods to extend people’s capabilities in the wide variety of applications. The master interface based on the force/torque (FT) sensor could provide the full-dimension intuitive bilateral teleoperation of a 6-DOF robot since it has the ability to trigger 6-DOF command input. However, due to the force coupling, noise disturbance and unlimited input values of the FT sensor, this forces-sensed interface could not be widely used in practice. In this paper, we present an intuitive teleoperation method based on the force-sensed sensor from mechanical design and input force signal process to overcome these challenges. In this method, the input signals from the force-sensed joystick were filtered and then processed to the force commands by force limit algorithm, with the merits of anti-interference, output limitation, and online velocity adjustment. Furthermore, based on the admittance control and position controller, the manipulator could be teleoperated by the force commands. Three experiments were conducted on our self-designed robotic system. The result of the first experiment shows that the interfered force from the force coupling could be effectively suppressed with the limitation of the input force through force limit algorithm. Then, a parameter was introduced in the other two experiments to adjust the velocity online practically with force limit algorithm. The proposed method could give a practical solution to the bilateral teleoperation based on the FT sensor.

show abstract

Section: Introductionmentioning

confidence: 99%

A Novel 6-DOF Force-Sensed Human-Robot Interface for an Intuitive Bilateral Teleoperation

Liu

Xie

et al. 2022

Preprint

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show abstract

Humanoid robot for educational and assistive applications

Salim

Jafri

Ahmed

et al. 2019

2019 4th International Conference on Emerging Trends in Engineering, Sciences and Technology (ICEEST)

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A Novel 6-DOF Force-Sensed Human-Robot Interface for an Intuitive Teleoperation

Xie

et al. 2022

Chin. J. Mech. Eng.

View full text Add to dashboard Cite

The teleoperation of a 6 degrees-of-freedom (DOF) manipulator is one of the basic methods to extend people’s capabilities in the wide variety of applications. The master interface based on the force/torque (FT) sensor could provide the full-dimension intuitive teleoperation of a 6-DOF robot since it has the ability to trigger 6-DOF command input. However, due to the force coupling, noise disturbance and unlimited input signals of the FT sensor, this force-sensed interface could not be widely used in practice. In this paper, we present an intuitive teleoperation method based on the FT sensor to overcome these challenges. In this method, the input signals from the force-sensed joystick were filtered and then processed to the force commands by force limit algorithm, with the merits of anti-interference, output limitation, and online velocity adjustment. Furthermore, based on the admittance control and position controller, the manipulator could be teleoperated by the force commands. Three experiments were conducted on our self-designed robotic system. The result of the first experiment shows that the interfered force from the force coupling could be effectively suppressed with the limitation of the input force through force limit algorithm. Then, a parameter was introduced in the other two experiments to adjust the velocity online practically with force limit algorithm. The proposed method could give a practical solution to the intuitive teleoperation based on the FT sensor.

show abstract

Surgical Robotic Nurse

Cited by 3 publications

References 10 publications

A Novel 6-DOF Force-Sensed Human-Robot Interface for an Intuitive Bilateral Teleoperation

A Novel 6-DOF Force-Sensed Human-Robot Interface for an Intuitive Bilateral Teleoperation

Humanoid robot for educational and assistive applications

A Novel 6-DOF Force-Sensed Human-Robot Interface for an Intuitive Teleoperation

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