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  1. International Journal of Control, Automation and Systems
  2. International Journal of Control, Automation and Systems : Volume 13
  3. International Journal of Control, Automation and Systems : Volume 13, Issue 4, August 2015
  4. Design of bilateral control for force feedback in surgical robot
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International Journal of Control, Automation and Systems : Volume 15
International Journal of Control, Automation and Systems : Volume 14
International Journal of Control, Automation and Systems : Volume 13
International Journal of Control, Automation and Systems : Volume 13, Issue 6, December 2015
International Journal of Control, Automation and Systems : Volume 13, Issue 5, October 2015
International Journal of Control, Automation and Systems : Volume 13, Issue 4, August 2015
Periodic event-triggered state-feedback and output-feedback control for linear systems
Stability analysis of periodic triggering reset control systems
Static output feedback ℋ $_{∞}$ control for a fractional-order glucose-insulin system
Launch point prediction employing the smoothing IPDA algorithm in 3-D cluttered environments
Discrete-time PID observer design for state and unknown input estimations in noisy measurements
Observer-based adaptive arbitrary switching fuzzy tracking control for a class of switched nonlinear systems
Comparative study of discretization zero dynamics behaviors in two multirate cases
A design method of a model-following control system
Nonsingular finite-time second order sliding mode attitude control for reentry vehicle
Hamiltonian stabilization additional L $_{2}$ adaptive control and its application to hydro turbine generating sets
Gradient-free numerical optimization-based extremum seeking control for multiagent systems
“Load balance” control for a humanoid musculoskeletal arm in table tennis movement
Robust path tracking control of nonholonomic wheeled mobile robot: Experimental validation
Decentralized neural network control for guaranteed tracking error constraint of a robot manipulator
Design of bilateral control for force feedback in surgical robot
Dynamic modeling of a two-wheeled inverted pendulum balancing mobile robot
Modeling and control of a magnus-effect-based ducted fan aerial vehicle
Design of a new 6-DOF parallel mechanism with a suspended platform
GPS spoofing detection using accelerometers and performance analysis with probability of detection
Calibration of laser inertial navigator with dual-axis rotation
Geomagnetic field-based localization with bicubic interpolation for mobile robots
A grey probability measure set based mobile robot position estimation algorithm
LMI conditions for local stability and stabilization of continuous-time T-S fuzzy systems
More relaxed non-quadratic stabilization conditions for TS fuzzy control systems using LMI and GEVP
Unknown input observer design for Takagi-Sugeno fuzzy stochastic system
The stabilization and 3D visual simulation of the triple inverted pendulum based on CGA-PIDNN
Domain adaption of vehicle detector based on convolutional neural networks
A Gaussian distributed resampling algorithm for mitigation of sample impoverishment in particle filters
International Journal of Control, Automation and Systems : Volume 13, Issue 3, June 2015
International Journal of Control, Automation and Systems : Volume 13, Issue 2, April 2015
International Journal of Control, Automation and Systems : Volume 13, Issue 1, February 2015
International Journal of Control, Automation and Systems : Volume 12
International Journal of Control, Automation and Systems : Volume 11
International Journal of Control, Automation and Systems : Volume 10
International Journal of Control, Automation and Systems : Volume 9
International Journal of Control, Automation and Systems : Volume 8
International Journal of Control, Automation and Systems : Volume 7

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Design of bilateral control for force feedback in surgical robot

Content Provider Springer Nature Link
Author Yoon, Sung Min Kim, Won Jae Lee, Min Cheol
Copyright Year 2015
Abstract In robot assisted laparoscopic surgery using a commercialized robot, such as the da Vinci, surgeons have encountered problems, such as organ impairment, because they depend only on visual information. To solve these problems, a haptic system is required. Force feedback and a bilateral control system are essential for realizing a haptic teleoperation system. The use of a force/torque sensor for force feedback is difficult in a surgical robot instrument, but previous studies confirmed that the reaction force loaded on a surgical robot instrument can be estimated using a sliding perturbation observer (SPO)-based reaction force estimation method. This paper suggests a bilateral controller applying SPO based force estimation method to realize the possibility of a haptic function in a laparoscopic surgery robot system. In the suggested bilateral controller, the master control uses impedance control and the slave control uses a sliding mode control (SMC). A torque and force sensorless teleoperation system can be implemented using the suggested bilateral control structure through an experimental evaluation.
Starting Page 916
Ending Page 925
Page Count 10
File Format PDF
ISSN 15986446
Journal International Journal of Control, Automation and Systems
Volume Number 13
Issue Number 4
e-ISSN 20054092
Language English
Publisher Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date 2015-08-08
Publisher Place Bucheon, Seoul
Access Restriction One Nation One Subscription (ONOS)
Subject Keyword Bilateral control force estimation haptic impedance control surgical robot Control, Robotics, Mechatronics
Content Type Text
Resource Type Article
Subject Control and Systems Engineering Computer Science Applications
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