Fixed‐time observer‐based controller for the human–robot collaboration with interaction force estimation

Abadi, Ali Soltani Sharif; Hosseinabadi, Pooyan Alinaghi; Hameed, Ayesha; Ordys, Andrzej; Pierscionek, Barbara K.

doi:10.1002/rnc.6719

Cited by 7 publications

(2 citation statements)

References 51 publications

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“…The concept of CF in the field of robotic surgery is a significant and common topic, and the research methods employed in this area hold substantial reference value for this study [23][24][25]. The aim of this study is to investigate the relationship between CF and IRE ablation efficacy in a potato model and to provide insights into catheter design for IRE ablation of AF.…”

Section: Introductionmentioning

confidence: 99%

Impact of tissue-electrode contact force on irreversible electroporation for atrial fibrillation in potato models

Hu,

Yuan,

Zhan

et al. 2023

PMD

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Background: Irreversible electroporation (IRE) is an emerging tissue ablation technique that offers advantages over traditional catheter ablation, such as minimal thermal damage and reduced treatment time. However, as this technique also involves delivering energy through a catheter to target tissue, there are still challenges regarding the contact between the catheter and the targeted tissue, and there is a lack of relevant studies. In this study, we examined this issue using potato models with three groups of experiments. Methods: First, the relationship between the effect of biphasic and monophasic output modes and contact force (CF) was studied. Next, the effect of different voltages on biphasic output mode was examined. Finally, impedance analysis was conducted to test the contact impedance under different CFs. Results: The IRE ablation efficacy increased with the increase of CF in both monophasic and biphasic output modes, and there was a strong correlation between the ablation efficacy and the CF. In addition, at three voltage levels, the IRE ablation efficacy increased with increasing CF, and there was a strong correlation between the ablation efficacy and the CF. Conclusion: The results indicate that, under common IRE electrical parameter configuration, the effect of IRE on the tissue has a positive response to the CF of the electrode in the potato model. This finding has important implications for the design of electrodes used in IRE for the treatment of atrial fibrillation.

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Section: Introductionmentioning

confidence: 99%

Impact of tissue-electrode contact force on irreversible electroporation for atrial fibrillation in potato models

Hu,

Yuan,

Zhan

et al. 2023

PMD

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show abstract

“…Within the realm of robotics for rehabilitation, adaptive human-machine interaction (HMI) refers to dynamically adjusting and optimizing the control process of rehabilitation robots based on the perception and understanding of the patient's movement status, rehabilitation needs, and environmental changes in order to provide more personalized, efficient, and safe rehabilitation training. Adaptive HMI control in rehabilitation robotics involves interdisciplinary knowledge such as rehabilitation medicine, HMI [1,2], machine learning, sensor technology, etc. [3,4].…”

Section: Introductionmentioning

confidence: 99%

Active Training Control Method for Rehabilitation Robot Based on Fuzzy Adaptive Impedance Adjustment

Zhuang

Meng

et al. 2023

Machines

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For lower limb rehabilitation robots, different patients or patients in different rehabilitation stages have different motion abilities, and the parameters of the traditional impedance control model are fixed and cannot achieve the best active suppleness training effect. In this paper, an active training control method based on the spring damping model (SDM) and the fuzzy adaptive adjustment of its parameters is proposed. The SDM offsets the target trajectory according to the patient interaction force to obtain a new desired trajectory, creating a controllable impedance environment for the patient. Fuzzy rules are established using coefficients reflecting the patient’s motion ability to adaptively adjust the stiffness and damping coefficients of the SDM. The virtual human–machine force interaction environment is changed to achieve the adaptive adjustment of the resistance training difficulty on the motion ability. The adaptive impedance control method proposed in this paper has achieved the expected goal through experimental verification, which can greatly mobilize the active participation of patients and help improve the rehabilitation effect of patients.

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Sensorless Human–Robot Interaction: Real‐Time Estimation of Co‐Grasped Object Mass and Human Wrench for Compliant Interaction

Bai,

Zang,

et al. 2024

Advanced Intelligent Systems

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Human–robot physical interaction in shared object manipulation can fully leverage the strengths of both humans and collaborative robots, achieving better interaction outcomes. However, in typical physical interactions, the inertia parameters of the object are either assumed to be known or ignored, simplifying the interaction to be directly between the human and the collaborative robot. This simplification can lead to inaccuracies in the robot's understanding of human intent due to deviations in object dynamics. This article presents a method that eliminates the need for a force sensor on the human side during human–robot collaboration. Using an extended Kalman filter, the method estimates object parameters online and applies a disturbance observer to determine human force. This approach reduces human effort and improves tracking performance compared to traditional methods. It also avoids the hassle of installing and removing sensors in complex scenarios. By estimating object mass and human force in real time, the robot can adjust its behavior to ensure safer and smoother interactions. Furthermore, the system can handle various objects without requiring specific programming for each case.

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Fixed‐time observer‐based controller for the human–robot collaboration with interaction force estimation

Cited by 7 publications

References 51 publications

Impact of tissue-electrode contact force on irreversible electroporation for atrial fibrillation in potato models

Impact of tissue-electrode contact force on irreversible electroporation for atrial fibrillation in potato models

Active Training Control Method for Rehabilitation Robot Based on Fuzzy Adaptive Impedance Adjustment

Sensorless Human–Robot Interaction: Real‐Time Estimation of Co‐Grasped Object Mass and Human Wrench for Compliant Interaction

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