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Transparency And Performance Oriented Control Of Haptic Teleoperation Systems
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Book Synopsis Transparency- and Performance-oriented Control of Haptic Teleoperation Systems by : Carolina U. Passenberg
Download or read book Transparency- and Performance-oriented Control of Haptic Teleoperation Systems written by Carolina U. Passenberg and published by . This book was released on 2013 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Haptics For Teleoperated Surgical Robotic Systems by : Mahdi Tavakoli
Download or read book Haptics For Teleoperated Surgical Robotic Systems written by Mahdi Tavakoli and published by World Scientific. This book was released on 2008-04-14 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance.
Book Synopsis Haptic Teleoperation Systems by : Jae-young Lee
Download or read book Haptic Teleoperation Systems written by Jae-young Lee and published by Springer. This book was released on 2015-06-30 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book examines the signal processing perspective in haptic teleoperation systems. This text covers the topics of prediction, estimation, architecture, data compression and error correction that can be applied to haptic teleoperation systems. The authors begin with an overview of haptic teleoperation systems, then look at a Bayesian approach to haptic teleoperation systems. They move onto a discussion of haptic data compression, haptic data digitization and forward error correction.
Book Synopsis Increasing Transparency and Presence in Teleoperation Through Human-centered Design by : Rebecca M. Pierce
Download or read book Increasing Transparency and Presence in Teleoperation Through Human-centered Design written by Rebecca M. Pierce and published by . This book was released on 2015 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: Second, this dissertation seeks to improve the feedback (afferent) teleoperation control channel, which carries information from the robot to the human operator. We aim to improve a teleoperation system a teleoperation system by providing the operator with multiple novel modalities of haptic (touch-based) feedback. We describe the design and control of a wearable haptic device that provides kinesthetic grip-force feedback through a geared DC motor and tactile fingertip-contact-and-pressure and high-frequency acceleration feedback through a pair of voice-coil actuators mounted at the tips of the thumb and index finger. Each included haptic feedback modality is known to be fundamental to direct task completion and can be implemented without great cost or complexity. A user study involving thirty subjects investigated how these three modalities of haptic feedback affect an operator's ability to control a real remote robot in a teleoperated pick-and-place task. This study's results strongly support the utility of grip-force and high-frequency acceleration feedback in teleoperation systems and show more mixed effects of fingertip-contact-and-pressure feedback.
Book Synopsis A Stable and Transparent Framework for Adaptive Shared Control of Robots by : Ribin Balachandran
Download or read book A Stable and Transparent Framework for Adaptive Shared Control of Robots written by Ribin Balachandran and published by Springer Nature. This book was released on 2024-01-29 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic research and developments in computing technologies including artificial intelligence have led to significant improvements in autonomous capabilities of robots. Yet, human supervision is advisable and, in many cases, necessary when robots interact with real-world, outside-lab environments. This is due to the fact that complete autonomy in robots has not yet been achieved. When robots encounter challenges beyond their capabilities, a viable solution is to include human operators in the loop, who can support robots through teleoperation, taking complete control or shared control. This monograph focuses on a special form of shared control, namely mixed-initiative, where the final command to the robot is a weighted sum of the commands from the operator and the autonomous controller. The weights (fixed or adaptive), called authority allocation (AA) factors, decide who has more control authority over the robot. Several research groups use different methods to adapt the AA factors online and the benefits of adaptive mixed-initiative shared control have been well established in terms of task completion success and operator usability. However, stability of the overall shared control framework, with communication time-delays between the operator and the robot, is a field that has not been examined extensively. This monograph presents methods to improve performance and stability in shared control so that the possibilities of its applications can be widened. Firstly, methods to improve the haptic feedback performance of teleoperation are developed. Secondly, methods to stabilize adaptive shared control systems, while still ensuring high teleoperation performance, are proposed. The methods are validated on multiple robotic systems and they were applied in several projects, both in space and terrestrial domains. With the aforementioned contributions, this monograph provides an overarching framework to improve synergy between humans and robots. The flexibility of the framework allows integration of existent teleoperation and shared control approaches, which further promotes synergy within the robotics community.
Book Synopsis Control Design for Haptic Systems by : Suyong Kim
Download or read book Control Design for Haptic Systems written by Suyong Kim and published by Springer Nature. This book was released on with total page 149 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Advances in Telerobotics by : Manuel Ferre
Download or read book Advances in Telerobotics written by Manuel Ferre and published by Springer. This book was released on 2007-08-10 with total page 502 pages. Available in PDF, EPUB and Kindle. Book excerpt: A fascinating book that covers in detail all of the most recent advances in Telerobotics. A must-read for scientists, researchers and students in teleoperation, it describes everything from methods and experimental results to applications and developments. Its three sections cover human system interfaces, control, and applications.
Book Synopsis Control of Cooperative Haptics-Enabled Teleoperation Systems with Application to Minimally Invasive Surgery by : Amir Takhmar
Download or read book Control of Cooperative Haptics-Enabled Teleoperation Systems with Application to Minimally Invasive Surgery written by Amir Takhmar and published by . This book was released on 2014 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot-Assisted Minimally Invasive Surgical (RAMIS) systems frequently have a structure of cooperative teleoperator systems where multiple master-slave pairs are used to collaboratively execute a task. Although multiple studies indicate that haptic feedback improves the realism of tool-tissue interaction to the surgeon and leads to better performance for surgical procedures, current telesurgical systems typically do not provide force feedback, mainly because of the inherent stability issues. The research presented in this thesis is directed towards the development of control algorithms for force reflecting cooperative surgical teleoperator systems with improved stability and transparency characteristics. In the case of cooperative force reflecting teleoperation over networks, conventional passivity based approaches may have limited applicability due to potentially non-passive slave-slave interactions and irregular communication delays imposed by the network. In this thesis, an alternative small gain framework for the design of cooperative network-based force reflecting teleoperator systems is developed. Using the small gain framework, control algorithms for cooperative force-reflecting teleoperator systems are designed that guarantee stability in the presence of multiple network-induced communication constraints. Furthermore, the design conservatism typically associated with the small-gain approach is eliminated by using the Projection-Based Force Reflection (PBFR) algorithms. Stability results are established for networked cooperative teleoperator systems under different types of force reflection algorithms in the presence of irregular communication delays. The proposed control approach is consequently implemented on a dual-arm (two masters/two slaves) robotic MIS testbed. The testbed consists of two Haptic Wand devices as masters and two PA10-7C robots as the slave manipulators equipped with da Vinci laparoscopic surgical instruments. The performance of the proposed control approach is evaluated in three different cooperative surgical tasks, which are knot tightening, pegboard transfer, and object manipulation. The experimental results obtained indicate that the PBFR algorithms demonstrate statistically significant performance improvement in comparison with the conventional direct force reflection algorithms. One possible shortcoming of using PBFR algorithms is that implementation of these algorithms may lead to attenuation of the high-frequency component of the contact force which is important, in particular, for haptic perception of stiff surfaces. In this thesis, a solution to this problem is proposed which is based on the idea of separating the different frequency bands in the force reflection signal and consequently applying the projection-based principle to the low-frequency component, while reflecting the high-frequency component directly. The experimental results demonstrate that substantial improvement in transient fidelity of the force feedback is achieved using the proposed method without negative effects on the stability of the system.
Book Synopsis Cutaneous Haptic Feedback in Robotic Teleoperation by : Claudio Pacchierotti
Download or read book Cutaneous Haptic Feedback in Robotic Teleoperation written by Claudio Pacchierotti and published by Springer. This book was released on 2015-11-06 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work addresses the challenge of providing effective cutaneous haptic feedback in robotic teleoperation, with the objective of achieving the highest degree of transparency whilst guaranteeing the stability of the considered systems. On the one hand, it evaluates teleoperation systems that provide only cutaneous cues to the operator, thus guaranteeing the highest degree of safety. This cutaneous-only approach shows intermediate performance between no force feedback and full haptic feedback provided by a grounded haptic interface, and it is best suitable for those scenarios where the safety of the system is paramount, e.g., robotic surgery. On the other hand, in order to achieve a higher level of performance, this work also investigates novel robotic teleoperation systems with force reflection able to provide mixed cutaneous and kinesthetic cues to the operator. Cutaneous cues can compensate for the temporary reduction of kinesthetic feedback necessary to satisfy certain stability conditions. This state-of-the-art volume is oriented toward researchers, educators, and students who are interested in force feedback techniques for robotic teleoperation, cutaneous device design, cutaneous rendering methods and perception studies, as well as readers from different disciplines who are interested in applying cutaneous haptic technologies and methods to their field of interest.
Book Synopsis Proceedings of the 10th International Conference on Electrorheological Fluids and Magnetorheological Suspensions by : Faramarz Gordaninejad
Download or read book Proceedings of the 10th International Conference on Electrorheological Fluids and Magnetorheological Suspensions written by Faramarz Gordaninejad and published by World Scientific. This book was released on 2007 with total page 843 pages. Available in PDF, EPUB and Kindle. Book excerpt: ERMR 2006 included invited speakers, technical presentations, poster presentations, and a student paper competition. At the conference banquet, Dr. David Carlson of Lord Corporation addressed the conference attendees and gave a stirring speech on the history of ER and MR fluids, as well as current and future applications. A unique feature of the ERMR Conferences is that they comprehensively cover issues ranging from physics to chemistry to engineering applications of ER and MR materials held in a general session to enhance the interaction between the scientists and engineers. The sessions in ERMR 2006 were organized based into two Symposia: a) Materials and b) Applications. Topics covered in the Materials Symposium included: mechanisms, preparation, and characterization of ER and MR materials. Topics covered in the Applications Symposium included: ER and MR devices, control systems, system integration, and applications. This structure was implemented in order to enable interaction between attending scientists and engineers in both the Materials Symposium and the Applications Symposium, and to enhance the free flow of ideas, and the potential collaborative research opportunities. Sample Chapter(s). Chapter 1: Transient Behavior of Electrorheological Fluids in Shear Flow (471 KB). Contents: The Physical Mechanism to Reduce Viscosity of Liquid Suspensions (R Tao); Polar Molecular Type Electrorheological Fluids (K Lu et al.); Yield Stress in Ferrofluids? (H Shahnazian & S Odenbach); The Effect of Dwell Time on the Rheological Behavior of MR Fluids (M Ahmadian & F D Goncalves); The Methods of Measuring Shear Stress of Polar Molecule Dominated ER Fluids (R Shen et al.); Electrosensitive Lubricants (E V Korobko et al.); Study on Characteristics of an Electrorheological Fluid Coupling (Y Meng et al.); On the Control of a MR Torque Transfer Device (M H Elahinia et al.); Comparison of ERF Clutch Designs (D J Ellam et al.); Examination of Throughflow in a Radial ERF Clutch (S M Chen et al.); Two-Layered Magnetic Fluid Sloshing in a Rectangular Container (S Yoshida et al.); Design of the High-Performance MR Brake and Its Characteristics (T Kikuchi et al.); and other papers. Readership: Mechanical engineers, electrical engineers, physicists, chemists, chemical engineers and materials scientists.
Book Synopsis Development of Bilateral Control for Pneumatic Actuated Teleoperation System by : Minh-Quyen Le
Download or read book Development of Bilateral Control for Pneumatic Actuated Teleoperation System written by Minh-Quyen Le and published by . This book was released on 2011 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The aim of this thesis is to investigate the development and control of electro-pneumatic actuators in a haptic teleoperation system. For controlling the mass flow rate of such actuators, two types of valve technology are sudied, i.e. solenoid (on/off) valve and proportional servovalve. The servovalves have found widespread applications in which high accuracy of force/position control are needed. They are however typically expensive due to the requirements of high-precision manufacturing. Therefore, the low-cost solenoid valves can be an alternative to the servovalves for achieving acceptable-performance pneumatic control. Generally, the highly nonlinear of the pneumatic actuator is heightened when it uses on/off solenoid valves instead of servovalves. In this case, precise control is challenging due to the discrete-input nature of the system. Our first objective is to demonstrate that it is possible to design an acceptable performance teleoperation system using master-slave robots that have pneumatic actuators equipped with only inexpensive on/off solenoid valves. To control efficiently the switching valves, several control approaches have been proposed, namely pulse width modulation (PWM), hybrid algorithm, and sliding mode control. A hybrid control theory, which includes more switching control modes, than PWM, allows to reduce the chattering problem and improve the energy consumption of the valves. Another strategy (i.e. a sliding mode control), which does not depend on the pneumatic model, is proposed. This control stratgy allows to perform not only the transparent analysis but also the stability analysis. In order to improve the dynamic performance and reduce the chattering problem in solenoid valve actuated pneumatic teleoperation systems, a five-mode sliding control scheme has been used, which can be considered as an extension of the three-mode sliding controller. Our study demonstrates that by increasing the number of possible control actions for the valves, we can reduce the valves' switching activities, hence improving the valve's life times at no cost to teleoperation transparency. The second objective of the thesis involves in implementing the proportional servovalves on the pneumatic teleoperation system. A comparison related to the teleoperation performance between an on/off valve and a servovalve is carried out. In experiments, it is observed that with the bilateral teleoperation architecture employing solenoid valves or servovalves, satisfactory force and position tracking between the master and the slave is obtained. In bilateral teleoperation control, force sensors are often omitted to save cost and to lessen weight and volume. Therefore, another aspect of our work consists in using observers for an estimation of operator and environment forces. Experimental results show that acceptable teleoperation transparency based on a simple Nicosia observer and a tangent linear control approach can be achieved.
Book Synopsis Dissipative Systems Analysis and Control by : Bernard Brogliato
Download or read book Dissipative Systems Analysis and Control written by Bernard Brogliato and published by Springer Science & Business Media. This book was released on 2006-11-24 with total page 589 pages. Available in PDF, EPUB and Kindle. Book excerpt: This second edition of Dissipative Systems Analysis and Control has been substantially reorganized to accommodate new material and enhance its pedagogical features. It examines linear and nonlinear systems with examples of both in each chapter. Also included are some infinite-dimensional and nonsmooth examples. Throughout, emphasis is placed on the use of the dissipative properties of a system for the design of stable feedback control laws.
Book Synopsis Haptics: Perception, Devices, Control, and Applications by : Fernando Bello
Download or read book Haptics: Perception, Devices, Control, and Applications written by Fernando Bello and published by Springer. This book was released on 2016-07-01 with total page 546 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two-volume set LNCS 9774 and 9775 constitutes the refereed proceedings of the 10th International Conference EuroHaptics 2016, held in London, UK, in July 2016. The 100 papers (36 oral presentations and 64 poster presentations) presented were carefully reviewed and selected from 162 submissions. These proceedings reflect the multidisciplinary nature of EuroHaptics and cover topics such as perception of hardness and softness; haptic devices; haptics and motor control; tactile cues; control of haptic interfaces; thermal perception; robotics and sensing; applications.
Book Synopsis High-Performance Adaptive Control of Teleoperation Systems by : Di-Hua Zhai
Download or read book High-Performance Adaptive Control of Teleoperation Systems written by Di-Hua Zhai and published by CRC Press. This book was released on 2023-04-17 with total page 1984 pages. Available in PDF, EPUB and Kindle. Book excerpt: Within a unified switched-control framework, this book investigates the high-performance control designs and theoretic analyses for teleoperation systems, including the joint space and task space teleoperations, the homogeneous and heterogeneous teleoperations, and the single-master single-slave and multi-master multi-slave teleoperations. The book begins with an introduction to the concepts and challenges of networked teleoperation systems. Then, it investigates a new adaptive control framework based on auxiliary switched filters for the bilateral teleoperation systems to handle the model uncertainty and non-passive external forces. To overcome the input constraints of robotic systems, this adaptive method is also extended to the anti-windup adaptive control case. Furthermore, to apply to multi-robot remote collaboration scenarios and heterogeneous teleoperations, two tele-coordination methods and an adaptive semi-autonomous control method are respectively developed. Finally, the authors examine two finite-time control schemes and two types of improved prescribed performance controls for teleoperation systems to improve the transient-state and steady-state synchronization performances. This title will be an essential reference for researchers and engineers interested in teleoperation, robotic systems, and nonlinear control systems. It would also prove useful to graduate students in the fields of science, engineering, and computer science.
Book Synopsis Haptics: Generating and Perceiving Tangible Sensations, Part I by : Astrid M. L. Kappers
Download or read book Haptics: Generating and Perceiving Tangible Sensations, Part I written by Astrid M. L. Kappers and published by Springer. This book was released on 2010-07-06 with total page 405 pages. Available in PDF, EPUB and Kindle. Book excerpt: Annotation This book constitutes the proceedings of the conference on Haptics: Generating and Perceiving Tangible Sensations, held in Amsterdam, Netherlands in July 2010.
Book Synopsis Engineering Haptic Devices by : Thorsten A. Kern
Download or read book Engineering Haptic Devices written by Thorsten A. Kern and published by Springer Nature. This book was released on 2022-11-05 with total page 704 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is an open access book. In this third edition of Engineering Haptic Devices the software part was rewritten from scratch and now includes even more details on tactile and texture interaction modalities. The kinematics section was improved to extend beyond a pure knowledge explanation to a comprehensive guideline on how to actually do and implement haptic kinematic functions. The control section was reworked incorporating some hands-on experience on control implementation on haptic systems. The system, actuator and sensor design chapters were updated to allow easier access to the content. This book is written for students and engineers faced with the development of a task-specific haptic system. Now 14 years after its first edition, it is still a reference for the basics of haptic interaction and existing haptic systems and methods as well as an excellent source of information for technical questions arising in the design process of systems and components. Following a system engineering approach, it is divided into two parts with Part I containing background and reference information as a knowledge basis. Typical application areas of haptic systems and a thorough analysis of haptics as an interaction modality are introduced. The role of users in the design of haptic systems is discussed and relevant design and development stages are outlined. Part II presents all related challenges in the design of haptic systems including general system architecture and control structures, kinematics, actuator principles and all types of sensors you may encounter doing haptic device development. Beside these hardware and mechanical topics, further chapters examine state-of-the-art interfaces to operate the devices, and hardware and software development to push haptic systems to their limits.
Book Synopsis Springer Handbook of Automation by : Shimon Y. Nof
Download or read book Springer Handbook of Automation written by Shimon Y. Nof and published by Springer Nature. This book was released on 2023-06-16 with total page 1533 pages. Available in PDF, EPUB and Kindle. Book excerpt: This handbook incorporates new developments in automation. It also presents a widespread and well-structured conglomeration of new emerging application areas, such as medical systems and health, transportation, security and maintenance, service, construction and retail as well as production or logistics. The handbook is not only an ideal resource for automation experts but also for people new to this expanding field.
