Paper Info
Title
Control Design And Experiments For Enhanced Detection Of Stiffness Variation In Soft-Tissue Telemanipulation
Abstract
The performance index in teleoperation, transparency, is often defined as linear scaling of force and position between the master/operator and slave/environment. Motivated by applications involving soft tissue manipulation such as robotic surgery, the transparency objective is generalized to include monotonic nonlinear mappings between the master/slave position and force signals. To demonstrate the utility of such performance index, an enhanced sensitivity non-linear force mapping design is proposed that can improve stiffness discrimination in telemanipulation tasks. The mapping design is validated using adaptive psychophysics perception experiments. Lyapunov-based adaptive motion/force controllers are presented that can guarantee the convergence of position and force tracking errors in the presence of dynamic uncertainty. Given a priori known bounds on the unknown operator/environment parameters, the robust stability of the proposed teleoperation system is analyzed using an off-axis circle criterion and the Nyquist envelope of interval plant systems. Experimental results with a two-axis teleoperation setup are provided.
Year
DOI
Venue
2007
10.1109/IROS.2007.4399198
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9
Keywords
Field
DocType
teleoperation, transparency, soft tissue manipulation, stiffness discrimination, robotic surgery, nonlinear mapping, circle criterion, interval plant systems
Teleoperation,Motion control,Circle criterion,Nonlinear system,Computer science,Control theory,Stiffness,A priori and a posteriori,Control engineering,Adaptive control,Telerobotics
Conference
Citations 
PageRank 
References 
2
0.45
5
Authors
2
Name
Order
Citations
PageRank
Pawel Malysz11077.83
Shahin Sirouspour222921.84