Reaction Force/Torque Sensing in a Master-Slave Robot System without Mechanical Sensors
Identifieur interne : 003636 ( Main/Merge ); précédent : 003635; suivant : 003637Reaction Force/Torque Sensing in a Master-Slave Robot System without Mechanical Sensors
Auteurs : Tao Liu ; Chunguang Li ; Yoshio Inoue ; Kyoko ShibataSource :
- Sensors (Basel, Switzerland) [ 1424-8220 ] ; 2010.
Abstract
In human-robot cooperative control systems, force feedback is often necessary in order to achieve high precision and high stability. Usually, traditional robot assistant systems implement force feedback using force/torque sensors. However, it is difficult to directly mount a mechanical force sensor on some working terminals, such as in applications of minimally invasive robotic surgery, micromanipulation, or in working environments exposed to radiation or high temperature. We propose a novel force sensing mechanism for implementing force feedback in a master-slave robot system with no mechanical sensors. The system consists of two identical electro-motors with the master motor powering the slave motor to interact with the environment. A bimanual coordinated training platform using the new force sensing mechanism was developed and the system was verified in experiments. Results confirm that the proposed mechanism is capable of achieving bilateral force sensing and mirror-image movements of two terminals in two reverse control directions.
Url:
DOI: 10.3390/s100807134
PubMed: 22163595
PubMed Central: 3231163
Links toward previous steps (curation, corpus...)
- to stream Pmc, to step Corpus: 002508
- to stream Pmc, to step Curation: 002508
- to stream Pmc, to step Checkpoint: 001D77
- to stream Ncbi, to step Merge: 001D21
- to stream Ncbi, to step Curation: 001D21
- to stream Ncbi, to step Checkpoint: 001D21
Links to Exploration step
PMC:3231163Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Reaction Force/Torque Sensing in a Master-Slave Robot System without Mechanical Sensors</title><author><name sortKey="Liu, Tao" sort="Liu, Tao" uniqKey="Liu T" first="Tao" last="Liu">Tao Liu</name></author><author><name sortKey="Li, Chunguang" sort="Li, Chunguang" uniqKey="Li C" first="Chunguang" last="Li">Chunguang Li</name></author><author><name sortKey="Inoue, Yoshio" sort="Inoue, Yoshio" uniqKey="Inoue Y" first="Yoshio" last="Inoue">Yoshio Inoue</name></author><author><name sortKey="Shibata, Kyoko" sort="Shibata, Kyoko" uniqKey="Shibata K" first="Kyoko" last="Shibata">Kyoko Shibata</name></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">22163595</idno><idno type="pmc">3231163</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3231163</idno><idno type="RBID">PMC:3231163</idno><idno type="doi">10.3390/s100807134</idno><date when="2010">2010</date><idno type="wicri:Area/Pmc/Corpus">002508</idno><idno type="wicri:Area/Pmc/Curation">002508</idno><idno type="wicri:Area/Pmc/Checkpoint">001D77</idno><idno type="wicri:Area/Ncbi/Merge">001D21</idno><idno type="wicri:Area/Ncbi/Curation">001D21</idno><idno type="wicri:Area/Ncbi/Checkpoint">001D21</idno><idno type="wicri:Area/Main/Merge">003636</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Reaction Force/Torque Sensing in a Master-Slave Robot System without Mechanical Sensors</title><author><name sortKey="Liu, Tao" sort="Liu, Tao" uniqKey="Liu T" first="Tao" last="Liu">Tao Liu</name></author><author><name sortKey="Li, Chunguang" sort="Li, Chunguang" uniqKey="Li C" first="Chunguang" last="Li">Chunguang Li</name></author><author><name sortKey="Inoue, Yoshio" sort="Inoue, Yoshio" uniqKey="Inoue Y" first="Yoshio" last="Inoue">Yoshio Inoue</name></author><author><name sortKey="Shibata, Kyoko" sort="Shibata, Kyoko" uniqKey="Shibata K" first="Kyoko" last="Shibata">Kyoko Shibata</name></author></analytic><series><title level="j">Sensors (Basel, Switzerland)</title><idno type="eISSN">1424-8220</idno><imprint><date when="2010">2010</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>In human-robot cooperative control systems, force feedback is often necessary in order to achieve high precision and high stability. Usually, traditional robot assistant systems implement force feedback using force/torque sensors. However, it is difficult to directly mount a mechanical force sensor on some working terminals, such as in applications of minimally invasive robotic surgery, micromanipulation, or in working environments exposed to radiation or high temperature. We propose a novel force sensing mechanism for implementing force feedback in a master-slave robot system with no mechanical sensors. The system consists of two identical electro-motors with the master motor powering the slave motor to interact with the environment. A bimanual coordinated training platform using the new force sensing mechanism was developed and the system was verified in experiments. Results confirm that the proposed mechanism is capable of achieving bilateral force sensing and mirror-image movements of two terminals in two reverse control directions.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Banz, R" uniqKey="Banz R">R Banz</name></author><author><name sortKey="Bolliger, M" uniqKey="Bolliger M">M Bolliger</name></author><author><name sortKey="Muller, S" uniqKey="Muller S">S Müller</name></author><author><name sortKey="Santelli, C" uniqKey="Santelli C">C Santelli</name></author><author><name sortKey="Riener, R" uniqKey="Riener R">R Riener</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Rashedi, E" uniqKey="Rashedi E">E Rashedi</name></author><author><name sortKey="Mirbagheri, A" uniqKey="Mirbagheri A">A Mirbagheri</name></author><author><name sortKey="Taheri, B" uniqKey="Taheri B">B Taheri</name></author><author><name sortKey="Farahmand, F" uniqKey="Farahmand F">F Farahmand</name></author><author><name sortKey="Vossoughi, G" uniqKey="Vossoughi G">G Vossoughi</name></author><author><name sortKey="Parnianpour, M" uniqKey="Parnianpour M">M Parnianpour</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Gupta, A" uniqKey="Gupta A">A Gupta</name></author><author><name sortKey="O Malley, Mk" uniqKey="O Malley M">MK O'Malley</name></author><author><name sortKey="Patoglu, V" uniqKey="Patoglu V">V Patoglu</name></author><author><name sortKey="Burgar, C" uniqKey="Burgar C">C Burgar</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Dovat, L" uniqKey="Dovat L">L Dovat</name></author><author><name sortKey="Lambercy, O" uniqKey="Lambercy O">O Lambercy</name></author><author><name sortKey="Gassert, R" uniqKey="Gassert R">R Gassert</name></author><author><name sortKey="Maeder, T" uniqKey="Maeder T">T Maeder</name></author><author><name sortKey="Milner, T" uniqKey="Milner T">T Milner</name></author><author><name sortKey="Leong, Tc" uniqKey="Leong T">TC Leong</name></author><author><name sortKey="Burdet, E" uniqKey="Burdet E">E Burdet</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Wolbrecht, Et" uniqKey="Wolbrecht E">ET Wolbrecht</name></author><author><name sortKey="Reinkensmeyer, Dj" uniqKey="Reinkensmeyer D">DJ Reinkensmeyer</name></author><author><name sortKey="Bobrow, Je" uniqKey="Bobrow J">JE Bobrow</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Komada, S" uniqKey="Komada S">S Komada</name></author><author><name sortKey="Hashimoto, Y" uniqKey="Hashimoto Y">Y Hashimoto</name></author><author><name sortKey="Okuyama, N" uniqKey="Okuyama N">N Okuyama</name></author><author><name sortKey="Hisada, T" uniqKey="Hisada T">T Hisada</name></author><author><name sortKey="Hirai, J" uniqKey="Hirai J">J Hirai</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="King, Ch" uniqKey="King C">CH King</name></author><author><name sortKey="Culjat, Mo" uniqKey="Culjat M">MO Culjat</name></author><author><name sortKey="Franco, Ml" uniqKey="Franco M">ML Franco</name></author><author><name sortKey="Lewis, Ce" uniqKey="Lewis C">CE Lewis</name></author><author><name sortKey="Dutson, Ep" uniqKey="Dutson E">EP Dutson</name></author><author><name sortKey="Grundfest, Ws" uniqKey="Grundfest W">WS Grundfest</name></author><author><name sortKey="Bisley, Jw" uniqKey="Bisley J">JW Bisley</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hagn, U" uniqKey="Hagn U">U Hagn</name></author><author><name sortKey="Konietschke, R" uniqKey="Konietschke R">R Konietschke</name></author><author><name sortKey="Tobergte, A" uniqKey="Tobergte A">A Tobergte</name></author><author><name sortKey="Nickl, M" uniqKey="Nickl M">M Nickl</name></author><author><name sortKey="Jorg, S" uniqKey="Jorg S">S Jörg</name></author><author><name sortKey="Kubler, B" uniqKey="Kubler B">B Kübler</name></author><author><name sortKey="Passig, G" uniqKey="Passig G">G Passig</name></author><author><name sortKey="Groger, M" uniqKey="Groger M">M Gröger</name></author><author><name sortKey="Frohlich, F" uniqKey="Frohlich F">F Fröhlich</name></author><author><name sortKey="Seibold, U" uniqKey="Seibold U">U Seibold</name></author><author><name sortKey="Le Tien, L" uniqKey="Le Tien L">L Le-Tien</name></author><author><name sortKey="Albu Sch Ffer, A" uniqKey="Albu Sch Ffer A">A Albu-Schäffer</name></author><author><name sortKey="Nothhelfer, A" uniqKey="Nothhelfer A">A Nothhelfer</name></author><author><name sortKey="Hacker, F" uniqKey="Hacker F">F Hacker</name></author><author><name sortKey="Grebenstein, M" uniqKey="Grebenstein M">M Grebenstein</name></author><author><name sortKey="Hirzinger, G" uniqKey="Hirzinger G">G Hirzinger</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Akinbiyi, T" uniqKey="Akinbiyi T">T Akinbiyi</name></author><author><name sortKey="Reiley, Ce" uniqKey="Reiley C">CE Reiley</name></author><author><name sortKey="Saha, S" uniqKey="Saha S">S Saha</name></author><author><name sortKey="Burschka, D" uniqKey="Burschka D">D Burschka</name></author><author><name sortKey="Hasser, Cj" uniqKey="Hasser C">CJ Hasser</name></author><author><name sortKey="Yuh, Dd" uniqKey="Yuh D">DD Yuh</name></author><author><name sortKey="Okamura, Am" uniqKey="Okamura A">AM Okamura</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Kitagawa, M" uniqKey="Kitagawa M">M Kitagawa</name></author><author><name sortKey="Dokko, D" uniqKey="Dokko D">D Dokko</name></author><author><name sortKey="Okamura, Am" uniqKey="Okamura A">AM Okamura</name></author><author><name sortKey="Yuh, Dd" uniqKey="Yuh D">DD Yuh</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Kokes, R" uniqKey="Kokes R">R Kokes</name></author><author><name sortKey="Lister, K" uniqKey="Lister K">K Lister</name></author><author><name sortKey="Gullapalli, R" uniqKey="Gullapalli R">R Gullapalli</name></author><author><name sortKey="Zhang, B" uniqKey="Zhang B">B Zhang</name></author><author><name sortKey="Macmillan, A" uniqKey="Macmillan A">A MacMillan</name></author><author><name sortKey="Richard, H" uniqKey="Richard H">H Richard</name></author><author><name sortKey="Desai, Jp" uniqKey="Desai J">JP Desai</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Zeb, J" uniqKey="Zeb J">J Zeb</name></author><author><name sortKey="Rashid, F" uniqKey="Rashid F">F Rashid</name></author><author><name sortKey="Iqbal, N" uniqKey="Iqbal N">N Iqbal</name></author><author><name sortKey="Ahmad, N" uniqKey="Ahmad N">N Ahmad</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Izard, Jb" uniqKey="Izard J">JB Izard</name></author><author><name sortKey="Gargiulo, L" uniqKey="Gargiulo L">L Gargiulo</name></author><author><name sortKey="Keller, D" uniqKey="Keller D">D Keller</name></author><author><name sortKey="Perrot, Y" uniqKey="Perrot Y">Y Perrot</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Ando, N" uniqKey="Ando N">N Ando</name></author><author><name sortKey="Korondi, P" uniqKey="Korondi P">P Korondi</name></author><author><name sortKey="Hashimoto, H" uniqKey="Hashimoto H">H Hashimoto</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Zareinejad, M" uniqKey="Zareinejad M">M Zareinejad</name></author><author><name sortKey="Rezaei, Sm" uniqKey="Rezaei S">SM Rezaei</name></author><author><name sortKey="Abdullah, A" uniqKey="Abdullah A">A Abdullah</name></author><author><name sortKey="Ghidary, Ss" uniqKey="Ghidary S">SS Ghidary</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Floyd, S" uniqKey="Floyd S">S Floyd</name></author><author><name sortKey="Pawashe, C" uniqKey="Pawashe C">C Pawashe</name></author><author><name sortKey="Sitti, M" uniqKey="Sitti M">M Sitti</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Zhang, Y" uniqKey="Zhang Y">Y Zhang</name></author><author><name sortKey="Chen, Bk" uniqKey="Chen B">BK Chen</name></author><author><name sortKey="Liu, X" uniqKey="Liu X">X Liu</name></author><author><name sortKey="Sun, Y" uniqKey="Sun Y">Y Sun</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Zhang, Yl" uniqKey="Zhang Y">YL Zhang</name></author><author><name sortKey="Han, Ml" uniqKey="Han M">ML Han</name></author><author><name sortKey="Vidyalakshmi, J" uniqKey="Vidyalakshmi J">J Vidyalakshmi</name></author><author><name sortKey="Shee, Cy" uniqKey="Shee C">CY Shee</name></author><author><name sortKey="Ang, Wt" uniqKey="Ang W">WT Ang</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Johnson, Mj" uniqKey="Johnson M">MJ Johnson</name></author><author><name sortKey="Van Der Loos, Hfm" uniqKey="Van Der Loos H">HFM Van Der Loos</name></author><author><name sortKey="Burgar, Cg" uniqKey="Burgar C">CG Burgar</name></author><author><name sortKey="Shor, P" uniqKey="Shor P">P Shor</name></author><author><name sortKey="Leifer, Lj" uniqKey="Leifer L">LJ Leifer</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Park, Hs" uniqKey="Park H">HS Park</name></author><author><name sortKey="Peng, Q" uniqKey="Peng Q">Q Peng</name></author><author><name sortKey="Zhang, Lq" uniqKey="Zhang L">LQ Zhang</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Park, Hs" uniqKey="Park H">HS Park</name></author><author><name sortKey="Peng, Q" uniqKey="Peng Q">Q Peng</name></author><author><name sortKey="Zhang, Lq" uniqKey="Zhang L">LQ Zhang</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Guo, S" uniqKey="Guo S">S Guo</name></author><author><name sortKey="Song, Z" uniqKey="Song Z">Z Song</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Li, C" uniqKey="Li C">C Li</name></author><author><name sortKey="Liu, T" uniqKey="Liu T">T Liu</name></author><author><name sortKey="Shibata, K" uniqKey="Shibata K">K Shibata</name></author><author><name sortKey="Inoue, Y" uniqKey="Inoue Y">Y Inoue</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Li, C" uniqKey="Li C">C Li</name></author><author><name sortKey="Inoue, Y" uniqKey="Inoue Y">Y Inoue</name></author><author><name sortKey="Liu, T" uniqKey="Liu T">T Liu</name></author><author><name sortKey="Shibata, K" uniqKey="Shibata K">K Shibata</name></author><author><name sortKey="Oka, K" uniqKey="Oka K">K Oka</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Lum, Ps" uniqKey="Lum P">PS Lum</name></author><author><name sortKey="Burgar, Cg" uniqKey="Burgar C">CG Burgar</name></author><author><name sortKey="Van Der Loos, M" uniqKey="Van Der Loos M">M Van Der Loos</name></author><author><name sortKey="Shor, Pc" uniqKey="Shor P">PC Shor</name></author><author><name sortKey="Majmundar, M" uniqKey="Majmundar M">M Majmundar</name></author><author><name sortKey="Yap, R" uniqKey="Yap R">R Yap</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Lum, Ps" uniqKey="Lum P">PS Lum</name></author><author><name sortKey="Burgar, Cg" uniqKey="Burgar C">CG Burgar</name></author><author><name sortKey="Shor, Pc" uniqKey="Shor P">PC Shor</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Eng, K" uniqKey="Eng K">K Eng</name></author><author><name sortKey="Siekierka, E" uniqKey="Siekierka E">E Siekierka</name></author><author><name sortKey="Pyk, P" uniqKey="Pyk P">P Pyk</name></author><author><name sortKey="Chevrier, E" uniqKey="Chevrier E">E Chevrier</name></author><author><name sortKey="Hauser, Y" uniqKey="Hauser Y">Y Hauser</name></author><author><name sortKey="Cameirao, M" uniqKey="Cameirao M">M Cameirao</name></author><author><name sortKey="Holper, L" uniqKey="Holper L">L Holper</name></author><author><name sortKey="H Gni, K" uniqKey="H Gni K">K Hägni</name></author><author><name sortKey="Zimmerli, L" uniqKey="Zimmerli L">L Zimmerli</name></author><author><name sortKey="Duff, A" uniqKey="Duff A">A Duff</name></author><author><name sortKey="Schuster, C" uniqKey="Schuster C">C Schuster</name></author><author><name sortKey="Bassetti, C" uniqKey="Bassetti C">C Bassetti</name></author><author><name sortKey="Verschure, P" uniqKey="Verschure P">P Verschure</name></author><author><name sortKey="Kiper, D" uniqKey="Kiper D">D Kiper</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Ueki, S" uniqKey="Ueki S">S Ueki</name></author><author><name sortKey="Nishimoto, Y" uniqKey="Nishimoto Y">Y Nishimoto</name></author><author><name sortKey="Abe, M" uniqKey="Abe M">M Abe</name></author><author><name sortKey="Kawasaki, H" uniqKey="Kawasaki H">H Kawasaki</name></author><author><name sortKey="Ito, S" uniqKey="Ito S">S Ito</name></author><author><name sortKey="Ishigure, Y" uniqKey="Ishigure Y">Y Ishigure</name></author><author><name sortKey="Mizumoto, J" uniqKey="Mizumoto J">J Mizumoto</name></author><author><name sortKey="Ojika, T" uniqKey="Ojika T">T Ojika</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Daluja, S" uniqKey="Daluja S">S Daluja</name></author><author><name sortKey="Golenberg, L" uniqKey="Golenberg L">L Golenberg</name></author><author><name sortKey="Cao, A" uniqKey="Cao A">A Cao</name></author><author><name sortKey="Pandya, Ak" uniqKey="Pandya A">AK Pandya</name></author><author><name sortKey="Auner, Gw" uniqKey="Auner G">GW Auner</name></author><author><name sortKey="Klein, Md" uniqKey="Klein M">MD Klein</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Seifabadi, R" uniqKey="Seifabadi R">R Seifabadi</name></author><author><name sortKey="Rezaei, Sm" uniqKey="Rezaei S">SM Rezaei</name></author><author><name sortKey="Ghidary, Ss" uniqKey="Ghidary S">SS Ghidary</name></author><author><name sortKey="Zareinejad, M" uniqKey="Zareinejad M">M Zareinejad</name></author><author><name sortKey="Saadat, M" uniqKey="Saadat M">M Saadat</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hesse, S" uniqKey="Hesse S">S Hesse</name></author><author><name sortKey="Schmidt, H" uniqKey="Schmidt H">H Schmidt</name></author><author><name sortKey="Werner, C" uniqKey="Werner C">C Werner</name></author></analytic></biblStruct></listBibl></div1></back></TEI></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Merge
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 003636 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 003636 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Merge
|type= RBID
|clé= PMC:3231163
|texte= Reaction Force/Torque Sensing in a Master-Slave Robot System without Mechanical Sensors
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Merge/RBID.i -Sk "pubmed:22163595" \
| HfdSelect -Kh $EXPLOR_AREA/Data/Main/Merge/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |