A survey of environment-, operator-, and task-adapted controllers for teleoperation systems

Passenberg, Carolina; Peer, Angelika; Buss, Martin

doi:10.1016/j.mechatronics.2010.04.005

Cited by 183 publications

(71 citation statements)

References 102 publications

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“…The control needs to account for various parameters, including time-delay (to increase performance and keep the system stable) (Chen et al, 2014), operator model uncertainties (related to human body impedance, not to cognitive or skill aspects) (Chan et al, 2014), and environment force uncertainties (Passenberg et al, 2010). Potential control problems are usually avoided by using classic control approaches (Hokayem and Spong, 2006) or with more advanced control techniques such as adaptive admittance control (Love and Book, 2004) or impact stabilization controllers (McAree and Daniel, 2000).…”

Section: Co-adaptation In Tasks Involving Human Motor-learning Skillsmentioning

confidence: 99%

Progressive Co-adaptation in Human-Machine Interaction

Gallina

Bellotto

Luca

2015

Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics

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Abstract:In this paper we discuss the concept of co-adaptation between a human operator and a machine interface and we summarize its application with emphasis on two different domains, teleoperation and assistive technology. The analysis of the literature reveals that only in a few cases the possibility of a temporal evolution of the co-adaptation parameters has been considered. In particular, it has been overlooked the role of time-related indexes that capture changes in motor and cognitive abilities of the human operator. We argue that for a more effective long-term co-adaptation process, the interface should be able to predict and adjust its parameters according to the evolution of human skills and performance. We thus propose a novel approach termed progressive co-adaptation, whereby human performance is continuously monitored and the system makes inferences about changes in the users' cognitive and motor skills. We illustrate the features of progressive co-adaptation in two possible applications, robotic telemanipulation and active vision for the visually impaired.

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Section: Co-adaptation In Tasks Involving Human Motor-learning Skillsmentioning

confidence: 99%

Progressive Co-adaptation in Human-Machine Interaction

Gallina

Bellotto

Luca

2015

Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics

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“…This adjustment depends on clinical requirements, for instance, how detailed the constraint morphology needs to be prescribed for safe tool guidance. The resulting concave hull contains the points representing the contour of S, they are stored in order and can be transferred into 3D space using (4). An exemplary result is depicted in Fig.…”

Section: A Calculating Cross-section Contourmentioning

confidence: 99%

“…Moreover, they have enabled human-robot collaborative control schemes by incorporating Virtual Fixtures [2] or Active Constraints, in which imaging models are used to provide intra-operative haptic force feedback [3]. Since its use for tele-operated robotic platforms [4]- [6], the concept of Virtual Fixtures has also been adopted for hand-held robotic systems [7], [8], in which both the operator and the robotic manipulator hold the tool and share one end-effector. The manipulation guidance can be generated in situ towards desired targets by imposing haptic feedback on the tool.…”

Section: Introductionmentioning

confidence: 99%

Implicit active constraints for a compliant surgical manipulator

Leibrandt

Marcus

Kwok

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Active constraints are high-level control algorithms providing software-generated force feedback from virtual environments. When applied to surgery, they can assist surgeons in performing complex tasks by guiding their navigation pathways along narrow, possibly convoluted, surgical trajectories. This paper presents a method to generate concave tubular constraints implicitly from pre-or intra-operative data. Patient-specific constraints may be generated efficiently with the proposed scheme and readily deployed in various surgical scenarios. Furthermore, a five degree-of-freedom active constraint framework is proposed, which accounts for the entire tool shaft rather than just the end-effector, and is applicable to both static and dynamic active constraint scenarios. Experimental results on simulated surgical tasks show that this framework can improve safety and accuracy as well as reduce the perceived workload during complex surgical tasks.

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“…Such systems have been deployed in various domains ranging from space exploration, underwater operation, and nuclear reactor to minimally invasive surgery [21]. A traditional teleoperation system commonly consists of the human operator, the master robot, communication channels, the slave robot and the remote environment [22].…”

Section: Introductionmentioning

confidence: 99%

Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

Sun

Naghdy

2016

Nonlinear Dyn

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Abstract-A novel approach applying the extended Prescribed Performance Control (PPC) and the wave-based Time Domain Passivity Approach (wave-based TDPA) to teleoperation systems is proposed. With the extended PPC, a teleoperation system can synchronize position, velocity and force. Moreover, by combining with the extended wave-based TDPA, the overall system's passivity is guaranteed in the presence of arbitrary time delays. The system's stability and performance are analyzed by using Lyapunov functions. The method is validated through experimental work based on a 3-DOF bilateral teleoperation system. The experimental results show that the proposed control algorithm can robustly guarantee the master-slave system's passivity and simultaneously provide high tracking performance of position, velocity and measured force signals.

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A survey of environment-, operator-, and task-adapted controllers for teleoperation systems

Cited by 183 publications

References 102 publications

Progressive Co-adaptation in Human-Machine Interaction

Progressive Co-adaptation in Human-Machine Interaction

Implicit active constraints for a compliant surgical manipulator

Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

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