Force perception plays an indispensable role in the surgical process and will be of great value in the medical field. It has a significant impact on the quality, efficiency and safety of surgery. The main purpose of t...
详细信息
ISBN:
(纸本)9781728116976
Force perception plays an indispensable role in the surgical process and will be of great value in the medical field. It has a significant impact on the quality, efficiency and safety of surgery. The main purpose of this research is to design, control and evaluate a haptic device. An improved method of the output force is proposed, which based on the structure of the 2-DOF joystick consisting of motors, drives and sensors. The improved energy-bounding algorithm (EBAC) is designed to output stable torque while considering static compensation. In order to compare the performance of three methods of Torque-control algorithm (TCA), energy-bounding algorithm (EBA) and the EBAC, a virtual wall test is conducted in CHAI3D. The test results show that the EBAC has good real-time performance and reliability. The calculating precision of device is 0.03 mm, the workspace is 200 mm and the output force is within 10.6 N (continuous force) and 42.4 N (peak force).
While developing a new human-like bilateral tele-handshake system that can provide multimodal sensations including visual, kinesthetic, tactile, temperature, and auditory, this paper proposes a 4-channel energy-boundi...
详细信息
ISBN:
(纸本)9783662441961;9783662441954
While developing a new human-like bilateral tele-handshake system that can provide multimodal sensations including visual, kinesthetic, tactile, temperature, and auditory, this paper proposes a 4-channel energy-bounding bilateral tele-handshake framework for stable and transparent kinesthetic sensations. Instead of directly measured fore, this framework uses position-based force feedback along with position signals. Preliminary experimental results with the LTE network showed somewhat natural kinesthetic feeling while remote handshaking.
This paper presents an energy-bounding approach to a rate-mode bilateral control of remote vehicles in order to guarantee the robust system stability in variable time-delayed and data-dropped telecommunication environ...
详细信息
This paper presents an energy-bounding approach to a rate-mode bilateral control of remote vehicles in order to guarantee the robust system stability in variable time-delayed and data-dropped telecommunication environments. The velocity error between desired and actual remote vehicle velocities is reflected in term of force in order to maintain the desired velocity by the operator during the normal driving in obstacle-free environments and in order to detect the collision when colliding with a high impedance wall. A rate-mode energy-bounding algorithm is devised for these teleoperation scenarios in order to feel velocity differences sensitively while guaranteeing robust interaction stability. Effectiveness of the proposed approach is shown by some typical experimental results in the simulated variable time-delayed and data-dropped environments. (C) 2010 Elsevier Ltd. All rights reserved.
Time delays in communication channels usually make teleoperation systems unstable. To cope with this, we apply the energy-bounding algorithm (EBA) that had been proposed for stable haptic interaction. The EBA restrict...
详细信息
Time delays in communication channels usually make teleoperation systems unstable. To cope with this, we apply the energy-bounding algorithm (EBA) that had been proposed for stable haptic interaction. The EBA restricts the energy generated by the sample and hold operator to consumable energy by the energy-consuming physical damping in the haptic system and some part of human arm to guarantee the passivity condition of whole system. This algorithm always guarantees stable haptic interactions, but compromises the displayable impedance range of the virtual environment. The EBA can be straightforwardly applied for bilateral teleoperation due to the analogy between the haptic simulation system and the teleoperation system. The video shows some feasibility test results of the EBA for bilateral teleoperation. Various test results for free, contact, and abrupt motions show that the EBA can ensure stable bilateral teleoperation for the fairy large amount of constant/variable time delays (2.5 sec (one-way) for free motion and 300 msec (one-way) for contact motion).
暂无评论