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Conceptual design of force reflection control for teleoperated bone surgery
2020
Current Directions in Biomedical Engineering
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Therefore, a concept for a force-reflecting controller for drilling or milling during teleoperated bone surgery was developed and tested on a one degree of freedom (DOF) test setup. ...
Experimental results with a 1-DOF test setup showed the desired control and switching behavior, while remaining stable. ...
Figure 1 : 1 Adapted Stiffness Reflection (SR) control with additional velocity limiter. ...
doi:10.1515/cdbme-2020-0014
fatcat:tov4nmg4wjaz5jb5jl3bzpoh4y
A Review of Bilateral Teleoperation Control Strategies with Soft Environment
2021
2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)
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In the past two decades, bilateral teleoperation with haptic feedback has attracted great research and application interests in both robotics and other areas. ...
Finally, the main applications, current challenges and future perspectives of bilateral teleoperation with soft environment are discussed. ...
[17] proposed a force-reflecting, a 3 degree of freedom (DOF) spherical manual controller. ...
doi:10.1109/icarm52023.2021.9536056
fatcat:de55e5e2wbcx5k2u7fnitjpaxm
Force reflecting joystick control for applications to bilateral teleoperation in construction machinery
2017
International Journal of Precision Engineering and Manufacturing
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First, this controller is a combination of an advanced force reflecting gain tuner and two local adaptive controllers, master and slave. ...
This paper presents a simple and effective force reflecting joystick controller for applications to bilateral teleoperation in construction machinery. ...
The proposed FRJC is the combination of the force reflecting gain tuner and two local adaptive controllers, STFC1 and STFC2. ...
doi:10.1007/s12541-017-0038-z
fatcat:ey3fn67ec5dylp7d6ypqv4boju
Projection-based force reflection algorithms for teleoperated rehabilitation therapy
2013
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
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Additionally, algorithms for augmented therapy are introduced which combine the projection-based force reflection with a delay-free local virtual therapist. ...
To overcome the task inversion, a new type of projection-based force reflection algorithm is proposed which is suitable for assistive/resistive therapy in the presence of irregular communication delays ...
problem of stability of the teleoperated rehabilitation system with the projection-based force reflection described above. ...
doi:10.1109/iros.2013.6696394
dblp:conf/iros/AtashzarPP13
fatcat:y6j35qx7v5hmjetebtg6lo6m6e
Nonlinear adaptive bilateral control of teleoperation systems with uncertain dynamics and kinematics
2010
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
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Then, for a teleoperation system with uncertain dynamics and kinematics, nonlinear adaptive controllers are designed for both the master and the slave. ...
Research so far on adaptive bilateral control of master-slave teleoperation systems considers dynamic uncertainties but stops short of considering kinematic uncertainties. ...
This paper proposes nonlinear adaptive controllers for teleoperation systems with uncertain dynamics and kinematics. ...
doi:10.1109/iros.2010.5652345
dblp:conf/iros/LiuTH10
fatcat:txxpaxjt4neftc6swwpricblgi
Trends in the Control Schemes for Bilateral Teleoperation with Time Delay
[chapter]
2011
Lecture Notes in Computer Science
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In the last two decades, an increasing interest has been observed in the development of effective bilateral teleoperation systems. ...
When the time delay was 3 s, the human operator could perceive the force reflection from the object. So the stability and transparency of the teleoperation system could be guaranteed. ...
A combination of wave variables and predictors, along with the addition of drift control was proposed in 2006 [3] . ...
doi:10.1007/978-3-642-21538-4_15
fatcat:bcil64bdy5hdxalkgtk7up6qse
Adaptive control of uncertain nonlinear teleoperation systems
2014
Mechatronics (Oxford)
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While adaptive master-slave teleoperation control strategies in the literature consider the dynamic uncertainties in the master and the slave robots, they stop short of accounting for the robots' kinematic ...
In this paper, for a teleoperation system that is both dynamically and kinematically uncertain, we propose novel nonlinear adaptive controllers that require neither the exact knowledge of the kinematics ...
The principle of PEB (position-error-based) teleoperation control [21] is to minimize the difference between the master and the slave positions while reflecting a force proportional to this difference ...
doi:10.1016/j.mechatronics.2013.11.010
fatcat:yto6kxcpvzekvd4gbsgioij7fi
Predictive PD Control for Teleoperation with Communication Time Delay
2008
IFAC Proceedings Volumes
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The proposed method is combination of the PD control based on the predictors and the adaptive impedance control. ...
The adaptive impedance control is used to linearize the robot with parametric uncertainties. ...
We validate the tracking performance, position coordination and force reflection. ...
doi:10.3182/20080706-5-kr-1001.02149
fatcat:iw42li37hjdepkacubbtfilnce
Sensorless force feedback joystick control for teleoperation of construction equipment
2017
International Journal of Precision Engineering and Manufacturing
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and, a fuzzy-based force feedback tuner to generate properly a force reflection to the joystick. ...
First, a force sensorless supervisory controller is designed with two advanced modules: a neural network-based environment classifier to estimate environment characteristics without requiring a force sensor ...
Kuchenbecker and Niemeyer 9 introduced a force reflecting teleoperation with the use of model-based cancellation. ...
doi:10.1007/s12541-017-0113-5
fatcat:o2otlqpspjbfxi7k6ugixukc3i
Review of Control Methods for Upper Limb Telerehabilitation with Robotic Exoskeletons
2020
IEEE Access
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the reflected force from that interaction [61] . ...
There was also a force/torque sensor in the hand module. The joint torques were measured on the slave ARMin IV and reflected to the master side for bilateral teleoperation. ...
doi:10.1109/access.2020.3036596
fatcat:bliks4oenrh75ol4drx2lphqqm
Compensatory neuro-fuzzy control of bilateral teleoperation system
2015
2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR)
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In this paper a new adaptive controller using compensatory neurofuzzy is presented to guarantee the position and force tracking performance between the master and the slave manipulators. ...
The controller proposed, combines on one hand neural networks (NNs) with fuzzy logic for dynamical compensation of both structured and unstructured uncertainties, and on the other hand optimizes dynamically ...
Thus, some researchers have tried to combine neural network with fuzzy logic to design control schemes for teleoperation systems. ...
doi:10.1109/mmar.2015.7283906
dblp:conf/mmar/MellahT15
fatcat:h4dmjjgq6nb7fmultb5m4qnclq
Combined Perception, Control, and Learning for Teleoperation: Key Technologies, Applications, and Challenges
2020
Cognitive Computation and Systems
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It enables humans to complete a task at a remote side and combines both the human's intelligence and the robots' capabilities in a collaborative task. ...
Teleoperation provides a promising way for human-robot collaboration in the unknown or unstructured environments to perform a cooperative task. ...
A robot learning method combined with adaptive impedance control was proposed for physical HRI, in which the robot could follow the human partner's intention and adapted the motion according to the learned ...
doi:10.1049/ccs.2020.0005
fatcat:ffhbpm565zge3hhmjf6w7yma4i
Adaptive Inverse Dynamics Four-Channel Control of Uncertain Nonlinear Teleoperation Systems
2011
Advanced Robotics
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In this paper, for multi-DOF nonlinear teleoperation systems with uncertainties, adaptive inverse dynamics controllers are incorporated into the 4-channel bilateral teleoperation control framework. ...
In comparison, inverse dynamics controllers can deal with the nonlinear terms in the dynamics in a way that, in the ideal case, the closed-loop systems become linear and decoupled. ...
DFR A direct force reflection, also called force-position, teleoperation architecture is shown in Fig. 2(b) . ...
doi:10.1163/016918611x584668
fatcat:mk5jpkytwvevxhc67zbo6c3734
Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations
[article]
2020
arXiv
pre-print
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Further, we notice that subjects quickly learned and adapted to the teleoperation interface. ...
Towards developing autonomous manipulators with comparable adaptability to humans, we study chopsticks-based manipulation to gain insights into human manipulation strategies. ...
[28] proposed that higher muscle force generally comes with higher force variability. ...
arXiv:2008.00101v1
fatcat:qzwaspb6frabbb3ttt4iewpqqa
The Touch of Telesurgery: A Philosophical Perspective
2001
Simulation & Gaming
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It also presents a compilation of the state of the art in teleoperation systems, with special emphasis in telesurgery applications and related research studies in the area comprising image processing and ...
Teleoperation is made from several disciplines, areas or techniques, ranging from communications to systems control and from virtual reality to digital signal processing. ...
Regarding force feedback, efforts to improve the accuracy of force reflection are reflected in works like [20] , where a position-sensor-based force reflection framework for bilateral teleoperation systems ...
doi:10.1177/104687810103200310
fatcat:irsqfy7bknawdm24qbaahxn7oe
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