NDLI: Direct adaptive force feedback for haptic control with time delay

Content Provider	IEEE Xplore Digital Library
Author	Richert, D. Macnab, C.J.B.
Copyright Year	2009
Description	Author affiliation: Dept. of Electrical and Computer Engineering, University of Calgary, Alberta, Canada (Richert, D.; Macnab, C.J.B.)
Abstract	Haptic devices convey force measurement to a human operator, who closes the control loop by moving the haptic hand controller. In surgical robotics, haptics dramatically improve the quality of the teleoperation. However, time delays can accumulate in the closed loop when haptic hand controllers are located in a different room (or even a different city) than the robot. When puncturing through tissue or hitting a solid surface, the commanded movement or force will be too large during the time delay, until the surgeon feels the effect and can pull back on the control. This paper proposes using a nonlinear adaptive inner-loop control scheme for haptic master/slave systems, to reduce effects of time delay. A Lyapunov analysis ensures stability. Simulation results show the improved response for a one-degree-of-freedom system in a highly nonlinear environment.
Starting Page	893
Ending Page	897
File Size	529403
Page Count	5
File Format	PDF
ISBN	9781424438778
DOI	10.1109/TIC-STH.2009.5444371
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-09-26
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force measurement Backstepping Force Feedback Delay effects Force feedback Adaptive Control Humans Lyapunov Stability Haptic interfaces Adaptive control Programmable control Surgery Haptics Force control Robots Surgical Robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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