Modeling the human hand as it interacts with a telemanipulation system

Speich, John E.; Shao, Liwei; Goldfarb, Michael

doi:10.1016/j.mechatronics.2005.06.001

Cited by 97 publications

(55 citation statements)

References 16 publications

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“…The first and possibly most well-known model is the linear second-order one proposed in [13]. However, the authors of [14] proved that a suitable model should be of relative order one. Hence, they derived a two-parameter model based on experimental data which can be written as…”

Section: Master Side Modelingmentioning

confidence: 99%

“…where ν 0 , ν 1 and ν 2 are coefficients that are obtained by arranging the Taylor expansion according to (14). Now the HC model can be rewritten as …”

Section: Estimation Of Environment Parametersmentioning

confidence: 99%

“…It is also a suitable approximation to consider 14 12 n  for the exponent n [20,22]. The properties of the simulated environments in addition to other assumptions for the system are mentioned in Tables 1 to 6.…”

Section: K S Bmentioning

confidence: 99%

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Increasing stability in model-mediated teleoperation approach by reducing model jump effect

Yazdankhoo

Beigzadeh

2017

Scientia Iranica

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Model-mediated teleoperation is a predictive control approach for controlling haptic teleoperation systems whereby the environment force is virtually located on master side in order to increase the stability and transparency of the system. This promising approach, however, results in new challenges. One pivotal challenge is the model jump effect, which stems from the delay in correct creation of the virtual environment. Previous works have endeavored to reduce this effect; however, they either led to transparency decrease or assumed simplified environment models. In this paper, we propose a control approach for this aim based on the idea of decoupling. This means that when a new environment has been identified, the operation is interrupted and no signal is transmitted between master and slave sides. During this time, both sides are controlled by their own sliding mode controllers until the system reaches stability. The main advantage of this method is its independence from environment type, which makes it usable for different kinds of applications. To verify the effectiveness of the proposed approach simulation tests are conducted. The results show the system is stable in interaction with hard and soft environments in presence of large time delays in communication channels.

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Section: Master Side Modelingmentioning

confidence: 99%

“…where ν 0 , ν 1 and ν 2 are coefficients that are obtained by arranging the Taylor expansion according to (14). Now the HC model can be rewritten as …”

Section: Estimation Of Environment Parametersmentioning

confidence: 99%

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Increasing stability in model-mediated teleoperation approach by reducing model jump effect

Yazdankhoo

Beigzadeh

2017

Scientia Iranica

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“…The assumption of a passive environment is reasonable as most environments do not generate energy. Also, there is ample research that shows that the human arm displays passive dynamics while it maintains stable contact with any strictly passive object (see, for example, [14] and [15]) despite active control by the central nervous system [16]. Having considered the human operator and the remote environment as passive velocity to torque/force mappings, we have…”

Section: Dynamics Of Teleoperation Systemsmentioning

confidence: 99%

Control of nonlinear teleoperation systems subject to disturbances and variable time delays

Mohammadi

Tavakoli

Marquez

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Instability and poor performance are two wellknown problems encountered in bilateral teleoperation over a communication channel with variable time delays, where force feedback from the slave side is provided to the master side. When unknown disturbances or external forces act on the master and/or the slave manipulators, the teleoperation system will be even more prone to stability and performance degradation. By adopting a Lyapunov approach, we present a novel nonlinear disturbance observer based control scheme for teleoperation systems that are subject to variable time delays and disturbances. Lumping the effects of dynamic uncertainties, unknown forces/torques exerted by the human operator and the remote environment, and external disturbances into a single disturbance term enables us to use a disturbance observer and suppress these disturbances in order to alleviate their adverse effects on the teleoperation system stability and performance. The proposed disturbance observer based control laws guarantee asymptotic disturbance tracking, asymptotic position tracking, and stability of teleoperation system in both constrained and free motions. Experimental results are presented to verify the effectiveness of the proposed approach.

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“…Also, f * h and f * e represent the human and the environment exogenous forces, respectively. The overall human hand parameters have been measured in several papers such as [11], [30] and [31]. In the simulations, the human hand parameters are chosen as in [30].…”

Section: Simulation Studymentioning

confidence: 99%

Disturbance observer-based control of non-linear haptic teleoperation systems

Mohammadi

Tavakoli

Marquez

2011

IET Control Theory Appl.

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Teleoperation systems are subject to different types of disturbances. Such disturbances, when unaccounted for, may cause poor performance and even instability of the teleoperation system. This paper presents a novel nonlinear bilateral control scheme using the concept of disturbance observer based control for nonlinear teleoperation systems. Lumping the effects of dynamic uncertainties and external disturbances into a single disturbance term enables us to design a disturbance observer in order to suppress these disturbances and alleviate their adverse effects on the teleoperation system. A disturbance observer based control law is proposed for nonlinear teleoperation systems which will guarantee global asymptotic force tracking and global exponential position and disturbance tracking when the bilateral teleoperation system is experiencing slow-varying disturbances. In the case of fastvarying disturbances, the tracking errors are shown to be globally uniformly ultimately bounded, with an ultimate bound that can be made as small as desired using the design parameters. Simulations are presented to show the effectiveness of the proposed approach.

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Modeling the human hand as it interacts with a telemanipulation system

Cited by 97 publications

References 16 publications

Increasing stability in model-mediated teleoperation approach by reducing model jump effect

Increasing stability in model-mediated teleoperation approach by reducing model jump effect

Control of nonlinear teleoperation systems subject to disturbances and variable time delays

Disturbance observer-based control of non-linear haptic teleoperation systems

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