Naturally-Transitioning Rate-to-Force Control in Free and Constrained Motion

Williams, Robert L.; Henry, Jason M.; Murphy, Mark A.; Repperger, D.W.

doi:10.1115/1.2802492

Cited by 10 publications

(10 citation statements)

References 13 publications

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“…In addition, the switching scheme that employs the saturation function made it possible to avoid undesirable behavior, such as chattering. The safety of the teleoperation is notably superior with the proposed control scheme than with the control scheme presented in the literature [23], [25]. Although the control scheme presented in [23] and [25] makes it possible to adapt the motion of the slave manipulator to the force exerted by the environment, the upper bound of the contact force cannot be ensured, as shown by the experiment results presented in Section V.…”

Section: Discussionmentioning

confidence: 92%

“…The velocity of the system obtained from (2) is sent to the position/velocity control loop, and the system then behaves compliantly. Some research has been conducted on how to integrate rate control and admittance control [22]- [25]. Kim et al proposed shared compliance control to improve the usability of teleoperation with communication delay [22], [23].…”

Section: Introductionmentioning

confidence: 99%

“…Kim et al proposed shared compliance control to improve the usability of teleoperation with communication delay [22], [23]. Williams et al developed naturally transitioning rate-to-force control to address free and constrained motions [24], [25]. However, the contact force does not have an upper bound in the control schemes presented in these studies because their applications were assumed to be industrial uses.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Hybrid Rate—Admittance Control With Force Reflection for Safe Teleoperated Surgery

Osa

Uchida

Sugita

et al. 2015

IEEE/ASME Trans. Mechatron.

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Teleoperated surgical systems have great potential to improve the performance of surgeons, and their use has spread worldwide in recent years. However, there are some issues that need to be resolved to make robotic surgery more reliable. For instance, the safety of current teleoperated surgical systems is dependent on the performance of the human operator, but human operators can sometimes commit errors. Therefore, a mechanism to ensure the safety of teleoperated surgery should be developed. This paper presents a hybrid system for rate control and admittance control for use in bilateral teleoperation. The proposed control system autonomously avoids excessive contact forces by switching between the rate control mode and the admittance control mode in a stable manner. The stability of the proposed control scheme was analyzed, and the system was found to be able to keep the contact force within an acceptable range. The performance of the proposed control scheme was verified through simulations and experiments. The results of the experiments and simulations showed that the proposed control scheme makes it possible to avoid excessive contact force in a stable manner.

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Section: Discussionmentioning

confidence: 92%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Hybrid Rate—Admittance Control With Force Reflection for Safe Teleoperated Surgery

Osa

Uchida

Sugita

et al. 2015

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

show abstract

“…Moreover, it was assumed that friction and the equivalent reduced-to-end-effector mass of the slave device were low and/or negligible. Actually, the transition from rate control to force control follows the naturally-transitioning rate to force control (NTRFC) concept [46], as similar to those implemented in [37]. …”

Section: Control-system Designmentioning

confidence: 99%

Design and Construction of a Bilateral Haptic System for the Remote Assessment of the Stiffness and Range of Motion of the Hand

Oscari

Oboe

Albasini

et al. 2016

Sensors

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The use of haptic devices in the rehabilitation of impaired limbs has become rather popular, given the proven effectiveness in promoting recovery. In a standard framework, such devices are used in rehabilitation centers, where patients interact with virtual tasks, presented on a screen. To track their sessions, kinematic/dynamic parameters or performance scores are recorded. However, as Internet access is now available at almost every home and in order to reduce the hospitalization time of the patient, the idea of doing rehabilitation at home is gaining wide consent. Medical care programs can be synchronized with the home rehabilitation device; patient data can be sent to the central server that could redirect to the therapist laptop (tele-healthcare). The controversial issue is that the recorded data do not actually represent the clinical conditions of the patients according to the medical assessment scales, forcing them to frequently undergo clinical tests at the hospital. To respond to this demand, we propose the use of a bilateral master/slave haptic system that could allow the clinician, who interacts with the master, to assess remotely and in real time the clinical conditions of the patient that uses the home rehabilitation device as the slave. In this paper, we describe a proof of concept to highlight the main issues of such an application, limited to one degree of freedom, and to the measure of the stiffness and range of motion of the hand.

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Section: Control Design: Four-channel and Two-port Network Modelsmentioning

confidence: 99%

Design and Construction of a Bilateral Haptic System for the Remote Assessment of the Stiffness and Range of Motion of the Hand

Oscari¹,

Oboe²,

Daud³

et al. 2016

Preprint

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Abstract:The use of haptic devices in the rehabilitation of impaired limbs has become rather popular, given the proven effectiveness in promoting recovery. In a standard framework, such devices are used in rehabilitation centers, where patients interact with virtual tasks, presented on a screen. To track their sessions, kinematic/dynamic parameters or performance scores are recorded. However, as Internet access is now available at almost every home and in order to reduce the hospitalization time of the patient, the idea of doing rehabilitation at home is gaining wide consent. Medical care programs can be synchronized with the home rehabilitation device; patient data can be sent to the central server that could redirect to the therapist laptop (tele-healthcare). The controversial issue is that the recorded data do not actually represent the clinical conditions of the patients according to the medical assessment scales, forcing them to frequently undergo clinical tests at the hospital. To respond to this demand, we propose the use of a bilateral master/slave haptic system that could allow the clinician, who interacts with the master, to assess remotely and in real time the clinical conditions of the patient that uses the home rehabilitation device as the slave. In this paper, we describe a proof of concept to highlight the main issues of such an application, limited to one degree of freedom, and to the measure of the stiffness and range of motion of the hand.

show abstract

Naturally-Transitioning Rate-to-Force Control in Free and Constrained Motion

Cited by 10 publications

References 13 publications

Hybrid Rate—Admittance Control With Force Reflection for Safe Teleoperated Surgery

Hybrid Rate—Admittance Control With Force Reflection for Safe Teleoperated Surgery

Design and Construction of a Bilateral Haptic System for the Remote Assessment of the Stiffness and Range of Motion of the Hand

Design and Construction of a Bilateral Haptic System for the Remote Assessment of the Stiffness and Range of Motion of the Hand

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