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In this paper a novel approach is proposed for interaction force estimation between a non-passive soft tissue in contact with end effector of a robot. It is necessary to understand the real behavior of living organs of the body in the robotic surgeries to do a better operation especially in cases of tele-operation surgery. In addition, this interaction force to the surgeon should be fed back in a...
In this paper, the stability and tracking control problem of a task space nonlinear bilateral teleoperation system is addressed interacting with a unknown environment. The controllers consist of adaptive controller and nonlinear disturbance observer to deal with uncertain dynamic model of manipulators, environmental and operators forces, respectively, in the presence of time delay. In order to estimate...
In this paper, a novel multi-master/single-slave (MM/SS) teleoperated framework is proposed. The desired objectives for the MM/SS system are presented in such a way that both cooperative and training applications, e.g., surgical teleoperation and surgical training, can benefit. Passivity of the system is investigated, and it is shown that an ideal MM/SS system, depending on its structure, may not...
Robotic-assisted beating heart surgery aims to eliminate the relative motion of heart, so that, the surgeon can operate on a stabilized heart without any kind of additional instruments. In this literature, the robot actively cancels heart motion by closely following a point of interest (POI) of heart surface. In this paper, we use biological signal such as ECG or blood pressure, to improvement of...
This paper proposes a novel planner for whole arm manipulation for approximate trajectory tracking and to guarantee object stable grasp. Planning for whole arm manipulation requires a method that assures the stability and quality of the grasp since contact points are constantly changing. To guarantee acceptable quality and safety of the grasp along movement, a global planner is developed based on...
This paper presents a new strategy in mobile robots leader-follower formation control. The key feature of the algorithm is incorporating leader-follower and leader-leader formation to make a novel formation named leader-leader-follower (l − l − ϕ). The feedback linearization method is used to exponentially stabilize the relative distance and orientation of the follower with respect to the leaders...
Dual-user teleoperation systems consisting of two master robots and one slave robot can be employed in order to facilitate the collaboration of two operators in a cooperative operation. Although, the stability as well as the performance of such systems suffers from undesired effects of latency, the significant issue of communication delay has been disregarded in the previous reported studies upon...
This paper considers the problem of leader-follower formation control for multiple Autonomous Underwater Vehicles (AUVs) in spatial motions. The objective is to derive a leader robot along a desired trajectory, and make the follower robots keep a desired formation with respect to the leader's configuration in 3-dimensional spaces. Unlike previous studies on formation control of multiple AUVs, hydrodynamic...
This paper presents a sliding mode-based impedance controller for delayed dual user teleoperation system with unknown delay. The latency which has considerable undesirable effects on system stability and performance is compensated through this control approach. The nonlinear gain of the controller is achieved independent of time delay caused by communication channels. Therefore, the necessity of measurement...
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