Force Feedback Benefit Depends on Experience in Multiple Degree of Freedom Robotic Surgery Task

2007 ◽  
Vol 23 (6) ◽  
pp. 1235-1240 ◽  
Author(s):  
C.R. Wagner ◽  
R.D. Howe
Keyword(s):  
Robotic Surgery ◽  
Force Feedback ◽  
Degree Of Freedom

A Microsurgical Robotic System that Induces a Multisensory Illusion

2016 ◽  
Vol 13 (04) ◽  
pp. 1650018 ◽  
Author(s):  
Jumpei Arata ◽  
Kazuo Kiguchi ◽  
Masashi Hattori ◽  
Masamichi Sakaguchi ◽  
Ryu Nakadate ◽  
...  
Keyword(s):  
Time Delay ◽  
Robotic Surgery ◽  
Haptic Feedback ◽  
Robotic System ◽  
Degree Of Freedom ◽  
System Response ◽  
Prototype Implementation ◽  
Hand Coordination ◽  
The Given

Intuitiveness in robotic surgery is highly desirable when performing highly elaborate surgical tasks using surgical master–slave systems (MSSs), such as suturing. To increase the operability of such systems, the time delay of the system response, haptic feedback, and eye–hand coordination are the issues that have received the most attention. In addition to these approaches, we propose a surgical robotic system that induces a multisensory illusion. In our previous study, we reported that a robotic instrument we devised enhances the multisensory illusion. In this paper, we determine the requirements for inducing this multisensory illusion in a multi-degree-of-freedom (DOF) MSS, and the first stage of prototype implementation based on the given requirements is described.

scholarly journals A Cable-Driven Three-DOF Wrist Rehabilitation Exoskeleton With Improved Performance

2021 ◽  
Vol 15 ◽  
Author(s):  
Ke Shi ◽  
Aiguo Song ◽  
Ye Li ◽  
Huijun Li ◽  
Dapeng Chen ◽  
...  
Keyword(s):  
Force Feedback ◽  
Dc Motor ◽  
Degree Of Freedom ◽  
Compensation Mechanism ◽  
Training Algorithm ◽  
Cable Tension ◽  
Rehabilitation Training ◽  
Improved Performance ◽  
Three Degree Of Freedom ◽  
Passive Training

This paper developed a cable-driven three-degree-of-freedom (DOF) wrist rehabilitation exoskeleton actuated by the distributed active semi-active (DASA) system. Compared with the conventional cable-driven robots, the workspace of this robot is increased greatly by adding the rotating compensation mechanism and by optimizing the distribution of the cable attachment points. In the meanwhile, the efficiency of the cable tension is improved, and the parasitic force (the force acting on the joint along the limb) is reduced. Besides, in order to reduce the effects of compliant elements (e.g., cables or Bowden cables) between the actuators and output, and to improve the force bandwidth, we designed the DASA system composed of one geared DC motor and four magnetorheological (MR) clutches, which has low output inertia. A fast unbinding strategy is presented to ensure safety in abnormal conditions. A passive training algorithm and an assist-as-needed (AAN) algorithm were implemented to control the exoskeleton. Several experiments were conducted on both healthy and impaired subjects to test the performance and effectiveness of the proposed system for rehabilitation. The results show that the system can meet the needs of rehabilitation training for workspace and force-feedback, and provide efficient active and passive training.

Advanced Hydraulically Actuated Patient Transfer Assist Device

2014 ◽  
Author(s):  
Heather C. Humphreys ◽  
Wayne J. Book
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Mental Workload ◽  
Static Friction ◽  
Contact Forces ◽  
Degree Of Freedom ◽  
Patient Transfer ◽  
Level Control ◽  
Hydraulically Actuated ◽  
Transfer Device

A new, advanced patient transfer device is being developed for moving mobility limited patients, for example, from a wheelchair to a bed or a floor into a chair. Current market patient lift devices are antiquated and insufficient for customer needs, with only one actuated degree of freedom. The high power to size ratio of hydraulic actuation makes it suitable for moving larger, heavier patients. We have developed a prototype pump-controlled hydraulically actuated patient transfer device that is more maneuverable and agile, using multiple actuated degrees of freedom. We are also working toward developing a more intuitive and safe caretaker interface and control strategy. We have performed an extensive needs assessment; these are a few associated key design requirements relevant to this presented work. A compact package is needed for ease of maneuvering the patient around obstacles in an uncertain environment. The device is capable of producing large forces, so it is desirable for the controller to minimize any unintentional large external contact forces, or provide force feedback. In this system, the caretaker and device work together to maneuver a complex payload, a human body; the operator’s mental workload must be minimized. With humans in the device workspace, safety and stability are necessary, including environment interactions. This new application presents several challenges related to the hydraulic control. First, we are using a separate bidirectional fixed displacement pump with a reversible brushed DC motor for each degree of freedom. The low level control involves obtaining desirable response from each motor-pump-actuator system, while compensating for significant static friction. At a higher level, we are testing several approaches to attain the desired intuitive control and desired dynamics, and minimize the operator workload. First, we are developing a coordinated control using a force input, such that the operator simply pushes on the device in the desired direction of motion. We are testing several different controllers to attain the desired dynamics. This paper presents the design of the machine, the proposed control structures as applied to this application, operator interface options, some preliminary results, and future work.

Improved integral force feedback controllers for lightweight flexible structures

2020 ◽  
pp. 107754632097454
Author(s):  
Florian Lacaze ◽  
Ahmad Paknejad ◽  
Didier Remond ◽  
Simon Chesne
Keyword(s):  
Control System ◽  
Force Feedback ◽  
Flexible Structures ◽  
Feedback Controller ◽  
Degree Of Freedom ◽  
Feedback Controllers ◽  
Single Degree Of Freedom ◽  
Cable Structure ◽  
Optimal Tuning ◽  
Single Degree

This study studies the performance of an integral force feedback controller for increasing the damping of lightweight flexible structures. Both methods of maximum damping and [Formula: see text] optimization are used to tune the parameters of the control system. Two modifications of the integral force feedback are proposed to compensate the effects of a soft stiffness to increase the authority of the actuator. Higher damping values are obtained by adding feedback terms to the integral force feedback. Optimal tuning, required actuator force, and stability are also discussed based on an academic model of a single-degree-of-freedom cable structure.

Visually perceived force feedback in simulated robotic surgery

2003 ◽  
Author(s):  
C. G. L. Cao ◽  
J. L. Webster ◽  
J. O. Perreault ◽  
S. Schwaitzberg ◽  
G. Rogers
Keyword(s):  
Robotic Surgery ◽  
Force Feedback ◽  
Perceived Force

Haptic Simulation of Manipulator Collisions Using Dynamic Proxies

2007 ◽  
Vol 16 (4) ◽  
pp. 367-384 ◽  
Author(s):  
Probal Mitra ◽  
Günter Niemeyer
Keyword(s):  
Force Feedback ◽  
Degree Of Freedom ◽  
Geometric Constraints ◽  
First Order ◽  
Virtual Tools ◽  
Time Simulation ◽  
Haptic Simulations ◽  
Linearly Constrained ◽  
Six Degree Of Freedom ◽  
Haptic Simulation

Haptic simulations aim to create an immersive, interactive computer generated environment, using haptic devices to render forces to the user based on interactions in the virtual world. In many applications, these simulations must be capable of handling interactions between multiple users, multiple hands, and complex virtual tools. In particular, consider the example of simulating two-handed robotic surgery, where each hand independently directs its own surgical robot to manipulate a tool. Traditionally only quasi-static, point-like proxies are used to represent the human in virtual environments. In previous works, we proposed dynamic proxies to improve upon this notion. Giving the proxy first order, velocity based dynamics makes it massless but capable of producing crisp dynamic interaction forces. With this paper, we generalize the proxy concept to the case of independent, multiple degree-of-freedom virtual manipulators, by giving the proxy not only first-order dynamics, but its own kinematic properties as well. Like real robots, the virtual manipulators' tips track the user and master motion while generating force feedback. Interactions between the virtual arms and with other objects are implemented as geometric constraints on the tip velocities, and solved in a linearly constrained least-squares minimization. A stability proof is given in terms of passivity. The approach is demonstrated on an actual two-handed haptic console, running a real-time simulation of a pair of six degree-of-freedom virtual manipulators with cylindrical links.

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