Modeling and Control of Single and Two Degree of Freedom Magnetorheological Fluid-based Haptic Systems for Telerobotic Surgery
Identifieur interne : 004874 ( Main/Exploration ); précédent : 004873; suivant : 004875Modeling and Control of Single and Two Degree of Freedom Magnetorheological Fluid-based Haptic Systems for Telerobotic Surgery
Auteurs : Farzad Ahmadkhanlou [États-Unis] ; Gregory N. Washington [États-Unis] ; Stephen E. Bechtel [États-Unis]Source :
- Journal of intelligent material systems and structures [ 1045-389X ] ; 2009.
Descripteurs français
- Pascal (Inist)
- Identification système, Système actif, Système passif, Commande force, Rétroaction, Commande boucle fermée, Commande retour état, Programme commande, Poids, Microstructure, Système 2 degrés liberté, Sensibilité tactile, Fluide magnétorhéologique, Téléopération, Télérobotique, Chirurgie, Amortisseur vibration, Contrainte écoulement, Orientation, Modèle fluide, Modèle cinétique, Modélisation, Equation constitutive, Equipement entrée sortie, Interface utilisateur.
- Wicri :
- topic : Chirurgie.
English descriptors
- KwdEn :
- Active system, Closed feedback, Constitutive equation, Control program, Feedback regulation, Flow stress, Fluid model, Force control, Input output equipment, Kinetic model, Magnetorheological fluid, Microstructure, Modeling, Orientation, Passive system, Remote operation, State feedback, Surgery, System identification, System with two degrees of freedom, Tactile sensitivity, Telerobotics, User interface, Vibration damper, Weight.
Abstract
In this study, the authors develop haptic systems for telerobotic surgery exploiting MR fluids for semiactive force feedback. To investigate the full range of tactile force exhibited by a particular MR damper design, a microstructural 3D kinetic theory-based model of MR fluids has been developed. In this model, microscale constitutive equations relate flow, stress, and particle orientation. The higher accuracy of the model in this regard gives better force representations of highly compliant objects. In this article, the model is utilized in force-feedback control of both a SDOF system and a 2DOF system. A state-feedback control algorithm is employed to track both the SDOF system, and the 2DOF system using specially designed MR force-feedback joysticks. The results demonstrate that the MR fluid-based force-feedback joysticks can be used effectively as haptic devices. It is also observed that both SDOF and 2DOF systems are nearly transparent in replicating the stiffness of different external objects, due to the light weight of the semiactive system and controller implementation.
Affiliations:
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Washington</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, The Ohio State University</s1><s2>Columbus, Ohio</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Ohio</region></placeName></affiliation></author><author><name sortKey="Bechtel, Stephen E" sort="Bechtel, Stephen E" uniqKey="Bechtel S" first="Stephen E." last="Bechtel">Stephen E. 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Washington</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, The Ohio State University</s1><s2>Columbus, Ohio</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Ohio</region></placeName></affiliation></author><author><name sortKey="Bechtel, Stephen E" sort="Bechtel, Stephen E" uniqKey="Bechtel S" first="Stephen E." last="Bechtel">Stephen E. Bechtel</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, The Ohio State University</s1><s2>Columbus, Ohio</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Ohio</region></placeName></affiliation></author></analytic><series><title level="j" type="main">Journal of intelligent material systems and structures</title><title level="j" type="abbreviated">J. intell. mater. syst. struct.</title><idno type="ISSN">1045-389X</idno><imprint><date when="2009">2009</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Journal of intelligent material systems and structures</title><title level="j" type="abbreviated">J. intell. mater. syst. struct.</title><idno type="ISSN">1045-389X</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Active system</term><term>Closed feedback</term><term>Constitutive equation</term><term>Control program</term><term>Feedback regulation</term><term>Flow stress</term><term>Fluid model</term><term>Force control</term><term>Input output equipment</term><term>Kinetic model</term><term>Magnetorheological fluid</term><term>Microstructure</term><term>Modeling</term><term>Orientation</term><term>Passive system</term><term>Remote operation</term><term>State feedback</term><term>Surgery</term><term>System identification</term><term>System with two degrees of freedom</term><term>Tactile sensitivity</term><term>Telerobotics</term><term>User interface</term><term>Vibration damper</term><term>Weight</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Identification système</term><term>Système actif</term><term>Système passif</term><term>Commande force</term><term>Rétroaction</term><term>Commande boucle fermée</term><term>Commande retour état</term><term>Programme commande</term><term>Poids</term><term>Microstructure</term><term>Système 2 degrés liberté</term><term>Sensibilité tactile</term><term>Fluide magnétorhéologique</term><term>Téléopération</term><term>Télérobotique</term><term>Chirurgie</term><term>Amortisseur vibration</term><term>Contrainte écoulement</term><term>Orientation</term><term>Modèle fluide</term><term>Modèle cinétique</term><term>Modélisation</term><term>Equation constitutive</term><term>Equipement entrée sortie</term><term>Interface utilisateur</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Chirurgie</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this study, the authors develop haptic systems for telerobotic surgery exploiting MR fluids for semiactive force feedback. To investigate the full range of tactile force exhibited by a particular MR damper design, a microstructural 3D kinetic theory-based model of MR fluids has been developed. In this model, microscale constitutive equations relate flow, stress, and particle orientation. The higher accuracy of the model in this regard gives better force representations of highly compliant objects. In this article, the model is utilized in force-feedback control of both a SDOF system and a 2DOF system. A state-feedback control algorithm is employed to track both the SDOF system, and the 2DOF system using specially designed MR force-feedback joysticks. The results demonstrate that the MR fluid-based force-feedback joysticks can be used effectively as haptic devices. It is also observed that both SDOF and 2DOF systems are nearly transparent in replicating the stiffness of different external objects, due to the light weight of the semiactive system and controller implementation.</div></front></TEI><affiliations><list><country><li>États-Unis</li></country><region><li>Ohio</li></region></list><tree><country name="États-Unis"><region name="Ohio"><name sortKey="Ahmadkhanlou, Farzad" sort="Ahmadkhanlou, Farzad" uniqKey="Ahmadkhanlou F" first="Farzad" last="Ahmadkhanlou">Farzad Ahmadkhanlou</name></region><name sortKey="Bechtel, Stephen E" sort="Bechtel, Stephen E" uniqKey="Bechtel S" first="Stephen E." last="Bechtel">Stephen E. Bechtel</name><name sortKey="Washington, Gregory N" sort="Washington, Gregory N" uniqKey="Washington G" first="Gregory N." last="Washington">Gregory N. Washington</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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