Tehran University of Medical Sciences

Science Communicator Platform

Stay connected! Follow us on X network (Twitter):
Share this content! On (X network) By
Control of Dual-User Haptic Training System With Online Authority Adjustment: An Observer-Based Adaptive Robust Scheme Publisher



Motaharifar M1, 2 ; Taghirad HD1 ; Hashtrudizaad K2 ; Mohammadi SF3
Authors
Show Affiliations
Authors Affiliations
  1. 1. Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran
  2. 2. Department of Electrical and Computer Engineering, BioRobotics Research Laboratory, Queen's University, Kingston, ON, Canada
  3. 3. Translational Ophthalmology Research Center, Farabi Eye Hospital, Tehran University of Medical Sciences, Tehran, Iran

Source: IEEE Transactions on Control Systems Technology Published:2020


Abstract

The design problem for the control a dual-user haptic surgical training system is studied in this article. The system allows the trainee to perform the task on a virtual environment, while the trainer is able to interfere in the operation and correct probable mistakes made by the trainee. The proposed methodology allows the trainer to transfer the task authority to or from the trainee in real time. The robust adaptive nature of the controller ensures position tracking. The stability of the closed-loop system is analyzed using the input-to-output stability approach and the small-gain theorem. Simulation and experimental results are presented to validate the effectiveness of the proposed control scheme. © 1993-2012 IEEE.
Related Docs
1. A Self-Tuning Dual Impedance Control Architecture for Collaborative Haptic Training, Mechatronics (2024)
2. Control Synthesis and Iss Stability Analysis of a Dual-User Haptic Training System Based on S-Shaped Function, IEEE/ASME Transactions on Mechatronics (2020)
3. Applications of Haptic Technology, Virtual Reality, and Artificial Intelligence in Medical Training During the Covid-19 Pandemic, Frontiers in Robotics and AI (2021)
4. Surgical Instrument Tracking for Vitreo-Retinal Eye Surgical Procedures Using Aras-Eye Dataset, 2020 28th Iranian Conference on Electrical Engineering# ICEE 2020 (2020)
Experts (# of related papers)
Seyed Farzad Mohammadi (4)
Parisa Abdi (1)