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Control Synthesis and Iss Stability Analysis of a Dual-User Haptic Training System Based on S-Shaped Function Publisher



Motaharifar M1 ; Taghirad HD1 ; Hashtrudizaad K2 ; Mohammadi SF3
Authors
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Authors Affiliations
  1. 1. Advanced Robotics and Automated Systems, Industrial Control Center of Excellence, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran, 1969764499, Iran
  2. 2. Department of Electrical and Computer Engineering, Queen's University, Kingston, K7L 3N6, ON, Canada
  3. 3. Translational Ophthalmology Research Center, Farabi Eye Hospital, Tehran University of Medical Sciences, Tehran, 1336616351, Iran

Source: IEEE/ASME Transactions on Mechatronics Published:2020


Abstract

The controller design and stability analysis of a dual user training haptic system is studied. Most of the previously proposed control methodologies for this system have not simultaneously considered special requirements of surgery training and stability analysis of the nonlinear closed-loop system which is the objective of this paper. In the proposed training approach, the trainee is allowed to freely experience the task and be corrected as needed, while the trainer maintains the task dominance. A special S-shaped function is suggested to generate the corrective force according to the magnitude of motion error between the trainer and the trainee. The closed-loop stability of the system is analyzed considering the nonlinearity of the system components using the Input-to-State Stability approach. Simulation and experimental results show the effectiveness of the proposed approach. © 2019 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
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