The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
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, the power and energy behavior of bilateral communication with time delay is analyzed. Time delay may result in activeness and in turn generate energy. In a bilateral system, the energy generated by time delay communication can destabilize the whole system. Based on the power based time domain passivity control previously proposed by the authors, a time domain passivity control approach...
Force-reflecting teleoperators in which the remote environment is kinesthetically coupled to the operator can considerably increase task performance. Wave-variable-based controllers can support the stable operation of force-reflecting teleoperators under arbitrary communication delays. Transparency in such systems is compromised in order to maintain stability. We had previously proposed a modified...
This paper aims to take a first step towards the unification of the stability analysis for teleoperators with time-delays. It proposes a general Lyapunov-like function that, upon slight modification, allows to analyze the stability of different control schemes, ranging from constant to variable time delays, with or without the scattering transformation and with or without position tracking. It also...
In this brief, we propose a passivity-based framework for control of bilateral teleoperators under time-varying delays and data loss. The usual scattering formalism which guarantees passivity for any constant time delay is extended in several important ways to handle adverse network dynamics. Communication management modules (CMM) are proposed to reconstruct the scattering variables while guaranteeing...
The problem of stable force-reflecting teleoperation is addressed where the communication between the master and the slave is subject to multiple time-varying, discontinuous, and possibly unbounded communication delays. A new force reflection algorithm is proposed which improves the stability of the system without decreasing its transparency. Based on an estimate of the human forces provided by a...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.