Abstract
One of the major shortcomings of state-of-the-art robotic systems for minimal invasive surgery is the lack of haptic feedback for the surgeon. In order to provide haptic information, sensors and actuators have to be added to the master and slave device. A control system should process the data and make a coupling between slave and master. Despite the significant amount of research on haptic devices, this control design problem is, largely, an open problem. This paper reports the results on three model-based control designs. Using the formalism of passivity, a robust controller has been designed, and is compared to a gain scheduled controller (LPV) which is adaptable for changes in the tissue characteristics.
Original language | English |
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Title of host publication | 2004 IEEE international conference on systems, man and cybernetics : The Hague, Netherlands (SMC 2004) : vol. 3 |
Place of Publication | Piscataway |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 2513-2518 |
ISBN (Print) | 0-7803-8566-7 |
DOIs | |
Publication status | Published - 2004 |
Event | 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 - The Hague, Netherlands Duration: 10 Oct 2004 → 13 Oct 2004 |
Conference
Conference | 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 |
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Abbreviated title | SMC 2004 |
Country/Territory | Netherlands |
City | The Hague |
Period | 10/10/04 → 13/10/04 |