Robust control-based linear bilateral teleoperation system without force sensor

Amini, H.; Dabbagh, Vahid; Rezaei, Seyed Mehdi; Zareinejad, Mohammad; Mardi, N.A.; Sarhan, Ahmed A.D.

doi:10.1007/s40430-014-0207-2

Cited by 18 publications

(11 citation statements)

References 17 publications

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“…Usually, these values are measured directly using force and position sensors. However, these approaches cause several drawbacks [14], [15]; i) mechanical and electrical difficulties in placement of sensors, ii) requiring adequate processing of sensors signals due to their noise and temperature dependency, and iii) in most cases, the price of sensors is expensive.…”

Section: Introductionmentioning

confidence: 99%

Interaction force and motion estimators facilitating impedance control of the upper limb rehabilitation robot

Mancisidor

Cabanes

Bengoa

et al. 2017

2017 International Conference on Rehabilitation Robotics (ICORR)

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Abstract-In order to enhance the performance of rehabilitation robots, it is imperative to know both force and motion caused by the interaction between user and robot. However, common direct measurement of both signals through force and motion sensors not only increases the complexity of the system but also impedes affordability of the system. As an alternative of the direct measurement, in this work, we present new force and motion estimators for the proper control of the upper-limb rehabilitation Universal Haptic Pantograph (UHP) robot. The estimators are based on the kinematic and dynamic model of the UHP and the use of signals measured by means of common low-cost sensors. In order to demonstrate the effectiveness of the estimators, several experimental tests were carried out. The force and impedance control of the UHP was implemented first by directly measuring the interaction force using accurate extra sensors and the robot performance was compared to the case where the proposed estimators replace the direct measured values. The experimental results reveal that the controller based on the estimators has similar performance to that using direct measurement (less than 1 N difference in root mean square error between two cases), indicating that the proposed force and motion estimators can facilitate implementation of interactive controller for the UHP in robotmediated rehabilitation trainings.

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Section: Introductionmentioning

confidence: 99%

Interaction force and motion estimators facilitating impedance control of the upper limb rehabilitation robot

Mancisidor

Cabanes

Bengoa

et al. 2017

2017 International Conference on Rehabilitation Robotics (ICORR)

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“…Therefore, a force estimation algorithm was proposed to eliminate force signal measurement. Consequently, the following control algorithm was used to reach better performance .

u_{m} (t) = K_{m} (x_{s}^{T} (t) - x_{m} (t)) + B_{m} ({\overset{x}{true}}_{s}^{T} (t) - {\overset{x}{true}}_{m} (t)) - {\overset{f}{true}}_{e} (t) - K_{1} s g n false(s_{1} false)

…”

Section: Methodsmentioning

confidence: 99%

A New Template and Teleoperation System for Human‐Guided Spine Surgery

et al. 2018

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Fluoroscopy-guided placement of pedicle screws is usually used to position pedicle screws, although it is highly risky due to lack of accuracy during operation and surgeon's intensive labor requirement during surgery. In this study, a new method was introduced to consider the issues and we tried to reduce the risk of pedicle screw placement and drilling process. To put pedicle screws in the correct position and orientation, a specific drill guide is designed and fabricated by additive manufacturing technology. In addition, since the drilling process is remarkably important and it is usually dependent on surgeon skill, therefore a teleoperation system is proposed to perform this task. In order to let the surgeon to have better control on the patient, a control scheme including position and velocity signals along with surgeon force and reaction force of vertebra was proposed. This helped the surgeon for proper control on the patient during surgery. A force estimation algorithm was presented to eliminate measuring external force signal. Consequently, 10 vertebras were used to evaluate specific drill guide and teleoperation system simultaneously. Then, the computed tomography evaluation demonstrated that Kirschner wire trajectories followed the planned axes with an error between 1 and 2 mm in 20% of cases and less than 1 mm in 80% of cases. The results obtained by the teleoperation system showed that the surgeon, in the master side, has proper control over the patient body in the slave side because the slave robot followed the master position. Furthermore, the surgeon in the master side sensed the reaction force of vertebra in the slave side appropriately.

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“…Absolute stability is employed to investigate stability and performance analysis of the closed-loop teleoperation system (Amini et al, 2015). Absolute stability is one of the conventional methods to analyze linear teleoperation systems stability (Amini et al, 2013).…”

Section: Stability Analysismentioning

confidence: 99%

Design an impedance control strategy for a teleoperation system to perform drilling process during spinal surgery

Tabatabaei

Zaeri

Vahedi

2019

Transactions of the Institute of Measurement and Control

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This work proposes a novel impedance control strategy for a delayed bilateral tele-surgery system to perform a drilling process during spinal surgery. In the new designed control scheme, regarding a desired impedance model for master and slave robot, an especial dynamic characteristic at the surgeon and master as well as slave and vertebra interface is designed. Two desired impedance models are proposed for the master and slave robots such that: (a) the salve robot that holds the drilling device should track the master path but complies with the reaction force of the vertebra, and (b) the surgeon should receive feedback from the slave-vertebra interaction force via the master robot. These main objectives are attained by proper adjustment in the proposed impedance model, which does not require any direct measurement of vertebra reflections. Then, the impedance model is put into a proper sliding mode controller to cope with the modeling uncertainties in the slave side. Consequently, the absolute stability concept is utilized to investigate closed-loop system stability and transparency. Finally, the control scheme is implemented on one degree of freedom robotic manipulators as master and slave robot. Experimental results demonstrate the efficiency of the designed impedance control scheme in the presence of modeling uncertainties.

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Robust control-based linear bilateral teleoperation system without force sensor

Cited by 18 publications

References 17 publications

Interaction force and motion estimators facilitating impedance control of the upper limb rehabilitation robot

Interaction force and motion estimators facilitating impedance control of the upper limb rehabilitation robot

A New Template and Teleoperation System for Human‐Guided Spine Surgery

Design an impedance control strategy for a teleoperation system to perform drilling process during spinal surgery

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