Tracking assist system using virtual friction field

Abstract

Human-machine cooperative systems have been proposed. Most of them consider carrying, positioning and assembling tasks. Precise tracking tasks are also required in factories. However, an assist system for tracking task has not been studied well. In this paper, we aim to realize the humanmachine system that assists a tracking task. In order to achieve the goal, the virtual friction field is proposed. Isotropic and anisotropic friction fields are presented and they are applied to the rotating object which should be tracked. The tracking task experiments are carried out and it is shown that the virtual guide of the friction improves the tracking performance effectively.

Performance metrics for guidance active constraints in surgical robotics

“…Various statistical representations can be used to interpret the tracking error time‐series acquired in experimentations. Works in the literature have used the average, average and standard deviation, RMS (root mean square) and maximum value of the tracking error time‐series. In the following, some statistical measures that can provide insight into the performance in accuracy enhancement of active constraints are explored.…”

“…Fewer studies have proposed enforcement methods, but as the generation of geometry and methods of tracking improve and practical implementations become more likely, the need for novel and efficient enforcement methods will grow. Studies on ACs have used a few metrics to prove the efficacy of their methods in enhancing accuracy and safety . However, the discussions are often limited to these aspects.…”

“…Studies on ACs have used a few metrics to prove the efficacy of their methods in enhancing accuracy and safety. 13,15,17 However, the discussions are often limited to these aspects. Occasionally, subjective aspects have been taken into consideration.…”

A dynamic non-energy-storing guidance constraint with motion redirection for robot-assisted surgery

“…Kikuuwe et al [10] introduced a non-energy-storing simulated plasticity method aimed at active constraint enforcement that was based on their previous work on frictional guidance constraints [11]. Simulated plasticity uses an anisotropic proxy model that resists motion in the nonpreferred direction by a large yield (plastic) force.…”