Volume 14, Issue 2 (Journal of Control, V.14, N.2 Summer 2020)                   JoC 2020, 14(2): 63-77 | Back to browse issues page

XML Persian Abstract Print


Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Motaharifar M, Taghirad H, Mohammadi S. A Robust Controller with Online Authority Transformation for Dual User Haptic Training System. JoC. 2020; 14 (2) :63-77
URL: http://joc.kntu.ac.ir/article-1-581-en.html
1- K. N. Toosi University
2- Tehran University of Medical Sciences
Abstract:   (1960 Views)
In this study, a force reflection control structure is developed for the surgery training haptic system. In the surgery training haptic system, the surgical operation is cooperatively performed by a trainer and a trainee. The participation of each surgeon in the operation is established through their own haptic consoles. Although the operation is primarily performed by the trainee, the trainer is able to interfere into the procedure in case of observing any deviation on the part of trainee and correct the probable mistakes. To transform the task authority between the trainer and the trainee, the hand force of the trainer is reflected to the hands of the trainee. Utilizing the haptic system, the position of the trainee is transformed to the hands of the trainer, thus the trainer has necessary information regarding the current position of the surgical operation. Stabilizing controllers are developed for each haptic console. The stability of the closed loop system is analyzed using the Input-to-State Stability (ISS) approach. The simulation results confirmed the appropriate performance of the proposed structure.
Full-Text [PDF 780 kb]   (125 Downloads)    
Type of Article: Research paper | Subject: Special
Received: 2018/05/12 | Accepted: 2019/02/13 | Published: 2019/08/15

References
1. [1] Hokayem, P.F. and Spong, M.W., 2006. Bilateral teleoperation: An historical survey. Automatica, 42(12), pp.2035-2057. [DOI:10.1016/j.automatica.2006.06.027]
2. [2] Sharifi, I., Talebi, H.A. and Motaharifar, M., 2016. A framework for simultaneous training and therapy in multilateral tele-rehabilitation. Computers & Electrical Engineering, 56, pp.700-714. [DOI:10.1016/j.compeleceng.2016.08.002]
3. [3] Liu, F., Lelevé, A., Eberard, D. and Redarce, T., 2016. A Dual-user Teleoperation System with Adaptive Authority Adjustment for Haptic Training. In New Trends in Medical and Service Robots (pp. 165-177). Springer, Cham. [DOI:10.1007/978-3-319-30674-2_13]
4. [4] Nudehi, S.S., Mukherjee, R. and Ghodoussi, M., 2005. A shared-control approach to haptic interface design for minimally invasive telesurgical training. IEEE Transactions on Control Systems Technology, 13(4), pp.588-592... [DOI:10.1109/TCST.2004.843131]
5. [5] Khademian, B. and Hashtrudi-Zaad, K., 2012. Dual-user teleoperation systems: New multilateral shared control architecture and kinesthetic performance measures. IEEE/ASME Transactions on Mechatronics, 17(5), pp.895-906. [DOI:10.1109/TMECH.2011.2141673]
6. [6] Li, J., Tavakoli, M. and Huang, Q., 2014. Absolute stability of a class of trilateral haptic systems. IEEE transactions on haptics, 7(3), pp.301-310. [DOI:10.1109/TOH.2014.2321616]
7. [7] Llewellyn, F.B., 1952. Some fundamental properties of transmission systems. Proceedings of the IRE, 40(3), pp.271-283. [DOI:10.1109/JRPROC.1952.273783]
8. [8] Razi K, Hashtrudi-Zaad K. Analysis of coupled stability in multilateral dual-user teleoperation systems. IEEE Transactions on Robotics. 2014 Jun;30(3):631-41. [DOI:10.1109/TRO.2013.2295889]
9. [9] Zeheb, E. and Walach, E., 1981. Necessary and sufficient conditions for absolute stability of linear n‐ports. International Journal of Circuit Theory and Applications, 9(3), pp.311-330. [DOI:10.1002/cta.4490090306]
10. [10] Shahbazi, M., Atashzar, S.F., Talebi, H.A. and Patel, R.V., 2015. Novel cooperative teleoperation framework: Multi-master/single-slave system. IEEE/ASME Transactions on Mechatronics, 20(4), pp.1668-1679. [DOI:10.1109/TMECH.2014.2347034]
11. [11] Ghorbanian, A., Rezaei, S.M., Khoogar, A.R., Zareinejad, M. and Baghestan, K., 2013. A novel control framework for nonlinear time-delayed dual-master/single-slave teleoperation. ISA transactions, 52(2), pp.268-277. [DOI:10.1016/j.isatra.2012.09.003]
12. [12] Nuno, E., Ortega, R., Barabanov, N. and Basañez, L., 2008. A globally stable PD controller for bilateral teleoperators. IEEE Transactions on Robotics, 24(3), pp.753-758. [DOI:10.1109/TRO.2008.921565]
13. [13] Shahbazi, M., Atashzar, S.F., Talebi, H.A. and Patel, R.V., 2014, May. An expertise-oriented training framework for robotics-assisted surgery. In Robotics and Automation (ICRA), 2014 IEEE International Conference on (pp. 5902-5907). IEEE. [DOI:10.1109/ICRA.2014.6907728]
14. [14] Motaharifar, M., Talebi, H.A., Abdollahi, F. and Afshar, A., 2015. Nonlinear adaptive output-feedback controller design for guidance of flexible needles. IEEE/ASME Transactions on Mechatronics, 20(4), pp.1912-1919. [DOI:10.1109/TMECH.2014.2359181]
15. [15] Khalil, H.K., 2017. Extended high-gain observers as disturbance estimators. SICE Journal of Control, Measurement, and System Integration, 10(3), pp.125-134. [DOI:10.9746/jcmsi.10.125]
16. [16] Polushin, I.G. and Marquez, H.J., 2003. Stabilization of bilaterally controlled teleoperators with communication delay: an ISS approach. International Journal of Control, 76(8), pp.858-870. [DOI:10.1080/0020717031000116515]
17. [17] Atashzar, S.F., Polushin, I.G. and Patel, R.V., 2017. A small-gain approach for nonpassive bilateral telerobotic rehabilitation: Stability analysis and controller synthesis. IEEE Transactions on Robotics, 33(1), pp.49-66. [DOI:10.1109/TRO.2016.2623336]
18. [18] Spong, M.W. and Vidyasagar, M., 2008. Robot dynamics and control. John Wiley & Sons.
19. [19] Marquez, H.J., 2002. Nonlinear Control Systems: Analysis and Design.
20. [20] Royden, H.L. and Fitzpatrick, P.M., 2010. Real analysis (4th Edtion). New Jersey: Printice-Hall Inc.
21. [21] E. Nuno, R. Ortega, L. Basanez, and D. Hill, "Synchronization of networks of nonidentical euler-lagrange systems with uncertain parameters and communication delays," Automatic Control, IEEE Transactions on,vol. 56, no. 4, pp. 935-941, 2011. [DOI:10.1109/TAC.2010.2103415]
22. [22] M. Motaharifar, A. Bataleblu, and H. Taghirad, "Adaptive control of dual user teleoperation with time delay and dynamic uncertainty," in Iranian Conference on Electrical Engineering (ICEE), 2016. IEEE, 2016. [DOI:10.1109/IranianCEE.2016.7585725]
23. [23] Taghirad, H.D., 2013. Parallel robots: mechanics and control. CRC press. [DOI:10.1201/b16096]

Add your comments about this article : Your username or Email:
CAPTCHA

Send email to the article author


© 2020 All Rights Reserved | Journal of Control

Designed & Developed by : Yektaweb