Nonlinear systems analysis (2nd ed.)
Nonlinear systems analysis (2nd ed.)
Nonlinear and Adaptive Control Design
Nonlinear and Adaptive Control Design
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Reliable and Enhanced Stiffness Perception in Soft-tissue Telemanipulation
International Journal of Robotics Research
Haptic discrimination of force direction and the influence of visual information
ACM Transactions on Applied Perception (TAP)
Bilateral teleoperation: An historical survey
Automatica (Journal of IFAC)
Dual-master teleoperation control of kinematically redundant robotic slave manipulators
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Trilateral teleoperation control of kinematically redundant robotic manipulators
International Journal of Robotics Research
Coordination control for bilateral teleoperation with kinematics and dynamics uncertainties
Robotics and Computer-Integrated Manufacturing
Hi-index | 0.00 |
Motivated by applications involving soft-tissue manipulation such as robotic surgery, the transparency objectives in bilateral teleoperation are redefined to include monotonic non-linear and linear-time-invariant filter mappings between the master/slave position and force signals. To demonstrate the utility of the new performance measures, a stiffness discrimination telemanipulation task of soft environments is considered. A nonlinear force mapping can enhance stiffness discrimination thresholds as shown through a set of psychophysics experiments.Lyapunov-based adaptive motion/force controllers are presented that can achieve the new transparency objectives in the presence of dynamic uncertainty in the master, slave, user, and environment and in the absence of time delay. Given a priori known bounds on unknown dynamic parameters, a framework for robust stability analysis is proposed that uses an off-axis circle criterion and the Nyquist envelope of interval plant systems. Nonlinear- and linear-filtered mappings are achieved in experiments with a two-axis teleoperation system.