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Recently, robotic surgical support systems are in clinical use for minimally invasive surgery. In order to improve the operability of the robotic surgical systems, development of haptic forceps teleoperation systems is required to help surgeon's dexterity. In addition, the motion scaling, which can adequately reduce or enlarge the movements and tactile senses of the operator and the robot, is necessary...
In this paper, stability of delay discrete impulsive systems in which the state variables on the impulses are related to the time delay is investigated. And a number of stability criteria are obtained by using Lyapunov functions and Razumikhin technique. Two examples are also presented to illustrate the efficiency of the obtained results.
This article established time delay dynamics equation of force telepresence system firstly, and then uses the differential equations to analyze the stability of force telepresence system. This paper makes use of Lyapunov function to discuss two cases which are free moving state and the state of action with environment, according to the moving state of the hand of robot. Also this article defines the...
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