A Dual-user Teleoperation System with Online Authority Adjustment for Haptic Training
Identifieur interne : 000343 ( Main/Exploration ); précédent : 000342; suivant : 000344A Dual-user Teleoperation System with Online Authority Adjustment for Haptic Training
Auteurs : Fei Liu [France] ; Arnaud Lelevé [France] ; Damien Eberard [France] ; Tanneguy Redarce [France]Source :
English descriptors
Abstract
This paper introduces a dual-user teleoperation system for hands-on medical training. A shared control based architecture is presented for authority management. In this structure, the combination of control signals is obtained using a dominance factor. Its main improvement is Online Authority Adjustment (OAA) : the authority can be adjusted manually/automatically during the training progress. Experimental results are provided to validate the performances of the system.
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Le document en format XML
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69134 Ecully cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.ec-lyon.fr</ref></desc></org></tutelle><tutelle active="#struct-194495" type="indirect"><org type="institution" xml:id="struct-194495" status="VALID"><orgName>Université Claude Bernard Lyon 1</orgName><orgName type="acronym">UCBL</orgName><desc><address><addrLine>43, boulevard du 11 novembre 1918, 69622 Villeurbanne cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lyon1.fr/</ref></desc></org></tutelle><tutelle active="#struct-301232" type="indirect"><org type="institution" xml:id="struct-301232" status="VALID"><orgName>Institut National des Sciences Appliquées</orgName><orgName type="acronym">INSA</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR5005" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Lyon</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Claude Bernard Lyon1</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lyon</orgName></affiliation></author><author><name sortKey="Redarce, Tanneguy" sort="Redarce, Tanneguy" uniqKey="Redarce T" first="Tanneguy" last="Redarce">Tanneguy Redarce</name><affiliation wicri:level="1"><hal:affiliation type="department" xml:id="struct-408749" status="VALID"><orgName>Ampère, Département Méthodes pour l'Ingénierie des Systèmes</orgName><orgName type="acronym">MIS</orgName><desc><address><country key="FR"></country></address></desc><listRelation><relation active="#struct-31070" type="direct"></relation><relation active="#struct-126765" type="indirect"></relation><relation active="#struct-194495" type="indirect"></relation><relation active="#struct-301232" type="indirect"></relation><relation name="UMR5005" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-31070" type="direct"><org type="laboratory" xml:id="struct-31070" status="VALID"><orgName>Ampère</orgName><desc><address><addrLine>Ecole Centrale de Lyon, 36 Avenue Guy de Collongue, 69134 Ecully CEDEX</addrLine><country key="FR"></country></address><ref type="url">http://www.ampere-lab.fr/</ref></desc><listRelation><relation active="#struct-126765" type="direct"></relation><relation active="#struct-194495" type="direct"></relation><relation active="#struct-301232" type="direct"></relation><relation name="UMR5005" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-126765" type="indirect"><org type="institution" xml:id="struct-126765" status="VALID"><orgName>École Centrale de Lyon</orgName><orgName type="acronym">ECL</orgName><desc><address><addrLine>36 avenue Guy de Collongue - 69134 Ecully cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.ec-lyon.fr</ref></desc></org></tutelle><tutelle active="#struct-194495" type="indirect"><org type="institution" xml:id="struct-194495" status="VALID"><orgName>Université Claude Bernard Lyon 1</orgName><orgName type="acronym">UCBL</orgName><desc><address><addrLine>43, boulevard du 11 novembre 1918, 69622 Villeurbanne cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lyon1.fr/</ref></desc></org></tutelle><tutelle active="#struct-301232" type="indirect"><org type="institution" xml:id="struct-301232" status="VALID"><orgName>Institut National des Sciences Appliquées</orgName><orgName type="acronym">INSA</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR5005" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Lyon</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Claude Bernard Lyon1</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lyon</orgName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Dual User Teleoperatoin</term><term>Hands-On Training</term><term>Hapics</term><term>Medical Robotics</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper introduces a dual-user teleoperation system for hands-on medical training. A shared control based architecture is presented for authority management. In this structure, the combination of control signals is obtained using a dominance factor. Its main improvement is Online Authority Adjustment (OAA) : the authority can be adjusted manually/automatically during the training progress. Experimental results are provided to validate the performances of the system.</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Auvergne-Rhône-Alpes</li><li>Rhône-Alpes</li></region><settlement><li>Lyon</li></settlement><orgName><li>Université Claude Bernard Lyon1</li><li>Université de Lyon</li></orgName></list><tree><country name="France"><region name="Auvergne-Rhône-Alpes"><name sortKey="Liu, Fei" sort="Liu, Fei" uniqKey="Liu F" first="Fei" last="Liu">Fei Liu</name></region><name sortKey="Eberard, Damien" sort="Eberard, Damien" uniqKey="Eberard D" first="Damien" last="Eberard">Damien Eberard</name><name sortKey="Leleve, Arnaud" sort="Leleve, Arnaud" uniqKey="Leleve A" first="Arnaud" last="Lelevé">Arnaud Lelevé</name><name sortKey="Redarce, Tanneguy" sort="Redarce, Tanneguy" uniqKey="Redarce T" first="Tanneguy" last="Redarce">Tanneguy Redarce</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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|texte= A Dual-user Teleoperation System with Online Authority Adjustment for Haptic Training
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