HapticV1, PascalFrancis, Corpus, bibRecord, 000687

Modeling and Control of Single and Two Degree of Freedom Magnetorheological Fluid-based Haptic Systems for Telerobotic Surgery

Identifieur interne : 000687 ( PascalFrancis/Corpus ); précédent : 000686; suivant : 000688

Modeling and Control of Single and Two Degree of Freedom Magnetorheological Fluid-based Haptic Systems for Telerobotic Surgery

Auteurs : Farzad Ahmadkhanlou ; Gregory N. Washington ; Stephen E. Bechtel

Source :

Journal of intelligent material systems and structures [ 1045-389X ] ; 2009.

RBID : Pascal:10-0046383

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.

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A11	`02`	`1`		`@1 WASHINGTON (Gregory N.)`
A11	`03`	`1`		`@1 BECHTEL (Stephen E.)`
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C01	`01`		`ENG`	@0 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.
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C03	`05`	`X`	`FRE`	`@0 Rétroaction @5 10`
C03	`05`	`X`	`ENG`	`@0 Feedback regulation @5 10`
C03	`05`	`X`	`SPA`	`@0 Retroacción @5 10`
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C03	`09`	`X`	`ENG`	`@0 Weight @5 14`
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C03	`11`	`X`	`FRE`	`@0 Système 2 degrés liberté @5 18`
C03	`11`	`X`	`ENG`	`@0 System with two degrees of freedom @5 18`
C03	`11`	`X`	`SPA`	`@0 Sistema 2 grados libertad @5 18`
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C03	`13`	`X`	`FRE`	`@0 Fluide magnétorhéologique @5 20`
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C03	`17`	`X`	`SPA`	`@0 Amortiguador vibración @5 24`
C03	`18`	`X`	`FRE`	`@0 Contrainte écoulement @5 25`
C03	`18`	`X`	`ENG`	`@0 Flow stress @5 25`
C03	`18`	`X`	`SPA`	`@0 Tensión flujo @5 25`
C03	`19`	`X`	`FRE`	`@0 Orientation @5 26`
C03	`19`	`X`	`ENG`	`@0 Orientation @5 26`
C03	`19`	`X`	`SPA`	`@0 Orientación @5 26`
C03	`20`	`X`	`FRE`	`@0 Modèle fluide @5 28`
C03	`20`	`X`	`ENG`	`@0 Fluid model @5 28`
C03	`20`	`X`	`SPA`	`@0 Modelo fluido @5 28`
C03	`21`	`X`	`FRE`	`@0 Modèle cinétique @5 29`
C03	`21`	`X`	`ENG`	`@0 Kinetic model @5 29`
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Format Inist (serveur)

NO :	PASCAL 10-0046383 INIST
ET :	Modeling and Control of Single and Two Degree of Freedom Magnetorheological Fluid-based Haptic Systems for Telerobotic Surgery
AU :	AHMADKHANLOU (Farzad); WASHINGTON (Gregory N.); BECHTEL (Stephen E.)
AF :	Department of Mechanical Engineering, The Ohio State University/Columbus, Ohio/Etats-Unis (1 aut., 2 aut., 3 aut.)
DT :	Publication en série; Niveau analytique
SO :	Journal of intelligent material systems and structures; ISSN 1045-389X; Etats-Unis; Da. 2009; Vol. 20; No. 10; Pp. 1171-1186; Bibl. 3/4 p.
LA :	Anglais
EA :	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.
CC :	001D02D05; 001B80C80G; 002B25
FD :	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
ED :	System identification; Active system; Passive system; Force control; Feedback regulation; Closed feedback; State feedback; Control program; Weight; Microstructure; System with two degrees of freedom; Tactile sensitivity; Magnetorheological fluid; Remote operation; Telerobotics; Surgery; Vibration damper; Flow stress; Orientation; Fluid model; Kinetic model; Modeling; Constitutive equation; Input output equipment; User interface
SD :	Identificación sistema; Sistema activo; Sistema pasivo; Control fuerza; Retroacción; Bucle realimentación cerrada; Bucle realimentación estado; Programa mando; Peso; Microestructura; Sistema 2 grados libertad; Sensibilidad tactil; Fluido magnetoreologico; Teleacción; Cirugía; Amortiguador vibración; Tensión flujo; Orientación; Modelo fluido; Modelo cinético; Modelización; Ecuación constitutiva; Equipo entrada salida; Interfase usuario
LO :	INIST-22109.354000187170000040
ID :	10-0046383

Links to Exploration step

Pascal:10-0046383

Le document en format XML

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<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>
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<fC03 i1="02" i2="X" l="ENG"><s0>Active system</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="SPA"><s0>Sistema activo</s0>
<s5>07</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Système passif</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Passive system</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Sistema pasivo</s0>
<s5>08</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Commande force</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Force control</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Control fuerza</s0>
<s5>09</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Rétroaction</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>Feedback regulation</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Retroacción</s0>
<s5>10</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Commande boucle fermée</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Closed feedback</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Bucle realimentación cerrada</s0>
<s5>11</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Commande retour état</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>State feedback</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Bucle realimentación estado</s0>
<s5>12</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Programme commande</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Control program</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Programa mando</s0>
<s5>13</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Poids</s0>
<s5>14</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Weight</s0>
<s5>14</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Peso</s0>
<s5>14</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Microstructure</s0>
<s5>15</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Microstructure</s0>
<s5>15</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Microestructura</s0>
<s5>15</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Système 2 degrés liberté</s0>
<s5>18</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>System with two degrees of freedom</s0>
<s5>18</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Sistema 2 grados libertad</s0>
<s5>18</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>19</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>19</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>19</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Fluide magnétorhéologique</s0>
<s5>20</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Magnetorheological fluid</s0>
<s5>20</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Fluido magnetoreologico</s0>
<s5>20</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Téléopération</s0>
<s5>21</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Remote operation</s0>
<s5>21</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Teleacción</s0>
<s5>21</s5>
</fC03>
<fC03 i1="15" i2="3" l="FRE"><s0>Télérobotique</s0>
<s5>22</s5>
</fC03>
<fC03 i1="15" i2="3" l="ENG"><s0>Telerobotics</s0>
<s5>22</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Chirurgie</s0>
<s5>23</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Surgery</s0>
<s5>23</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Cirugía</s0>
<s5>23</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Amortisseur vibration</s0>
<s5>24</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Vibration damper</s0>
<s5>24</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Amortiguador vibración</s0>
<s5>24</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Contrainte écoulement</s0>
<s5>25</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>Flow stress</s0>
<s5>25</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Tensión flujo</s0>
<s5>25</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE"><s0>Orientation</s0>
<s5>26</s5>
</fC03>
<fC03 i1="19" i2="X" l="ENG"><s0>Orientation</s0>
<s5>26</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA"><s0>Orientación</s0>
<s5>26</s5>
</fC03>
<fC03 i1="20" i2="X" l="FRE"><s0>Modèle fluide</s0>
<s5>28</s5>
</fC03>
<fC03 i1="20" i2="X" l="ENG"><s0>Fluid model</s0>
<s5>28</s5>
</fC03>
<fC03 i1="20" i2="X" l="SPA"><s0>Modelo fluido</s0>
<s5>28</s5>
</fC03>
<fC03 i1="21" i2="X" l="FRE"><s0>Modèle cinétique</s0>
<s5>29</s5>
</fC03>
<fC03 i1="21" i2="X" l="ENG"><s0>Kinetic model</s0>
<s5>29</s5>
</fC03>
<fC03 i1="21" i2="X" l="SPA"><s0>Modelo cinético</s0>
<s5>29</s5>
</fC03>
<fC03 i1="22" i2="X" l="FRE"><s0>Modélisation</s0>
<s5>30</s5>
</fC03>
<fC03 i1="22" i2="X" l="ENG"><s0>Modeling</s0>
<s5>30</s5>
</fC03>
<fC03 i1="22" i2="X" l="SPA"><s0>Modelización</s0>
<s5>30</s5>
</fC03>
<fC03 i1="23" i2="X" l="FRE"><s0>Equation constitutive</s0>
<s5>31</s5>
</fC03>
<fC03 i1="23" i2="X" l="ENG"><s0>Constitutive equation</s0>
<s5>31</s5>
</fC03>
<fC03 i1="23" i2="X" l="SPA"><s0>Ecuación constitutiva</s0>
<s5>31</s5>
</fC03>
<fC03 i1="24" i2="X" l="FRE"><s0>Equipement entrée sortie</s0>
<s5>32</s5>
</fC03>
<fC03 i1="24" i2="X" l="ENG"><s0>Input output equipment</s0>
<s5>32</s5>
</fC03>
<fC03 i1="24" i2="X" l="SPA"><s0>Equipo entrada salida</s0>
<s5>32</s5>
</fC03>
<fC03 i1="25" i2="X" l="FRE"><s0>Interface utilisateur</s0>
<s5>41</s5>
</fC03>
<fC03 i1="25" i2="X" l="ENG"><s0>User interface</s0>
<s5>41</s5>
</fC03>
<fC03 i1="25" i2="X" l="SPA"><s0>Interfase usuario</s0>
<s5>41</s5>
</fC03>
<fN21><s1>032</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 10-0046383 INIST</NO>
<ET>Modeling and Control of Single and Two Degree of Freedom Magnetorheological Fluid-based Haptic Systems for Telerobotic Surgery</ET>
<AU>AHMADKHANLOU (Farzad); WASHINGTON (Gregory N.); BECHTEL (Stephen E.)</AU>
<AF>Department of Mechanical Engineering, The Ohio State University/Columbus, Ohio/Etats-Unis (1 aut., 2 aut., 3 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>Journal of intelligent material systems  and structures; ISSN 1045-389X; Etats-Unis; Da. 2009; Vol. 20; No. 10; Pp. 1171-1186; Bibl. 3/4 p.</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001D02D05; 001B80C80G; 002B25</CC>
<FD>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</FD>
<ED>System identification; Active system; Passive system; Force control; Feedback regulation; Closed feedback; State feedback; Control program; Weight; Microstructure; System with two degrees of freedom; Tactile sensitivity; Magnetorheological fluid; Remote operation; Telerobotics; Surgery; Vibration damper; Flow stress; Orientation; Fluid model; Kinetic model; Modeling; Constitutive equation; Input output equipment; User interface</ED>
<SD>Identificación sistema; Sistema activo; Sistema pasivo; Control fuerza; Retroacción; Bucle realimentación cerrada; Bucle realimentación estado; Programa mando; Peso; Microestructura; Sistema 2 grados libertad; Sensibilidad tactil; Fluido magnetoreologico; Teleacción; Cirugía; Amortiguador vibración; Tensión flujo; Orientación; Modelo fluido; Modelo cinético; Modelización; Ecuación constitutiva; Equipo entrada salida; Interfase usuario</SD>
<LO>INIST-22109.354000187170000040</LO>
<ID>10-0046383</ID>
</server>
</inist>
</record>

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Modeling and Control of Single and Two Degree of Freedom Magnetorheological Fluid-based Haptic Systems for Telerobotic Surgery

Modeling and Control of Single and Two Degree of Freedom Magnetorheological Fluid-based Haptic Systems for Telerobotic Surgery

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