NDLI: Stable Non-linear Force/Position Mapping for Enhanced Telemanipulation of Soft Environments

Content Provider	IEEE Xplore Digital Library
Author	Malysz, P. Sirouspour, S.
Copyright Year	2007
Description	Author affiliation: Dept. of Electr. & Comput. Eng., McMaster Univ., Hamilton, Ont. (Malysz, P.; Sirouspour, S.)
Abstract	The performance index in bilateral teleoperation, transparency, is often defined as linear scaling between the master and slave positions, as well as the operator and environment forces. 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. Modified 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 and environment mass-spring-damper parameters, the closed-loop stability is analyzed using an off-axis circle criterion and the Nyquist envelope of interval plant systems. This approach produces far less conservative stability margins than those achievable by the passivity analysis. Experimental results with a two-axis teleoperation setup are provided.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	4307
Ending Page	4312
File Size	542509
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.364142
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Master-slave Force control Stability analysis Performance analysis Biological tissues Robots Surgery Signal mapping Programmable control Adaptive control Teleoperation Telemanipulation Telesurgery Robotic surgery Soft tissue manipulation Transparency Circle criterion
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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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