Design of bilateral teleoperation controllers for haptic exploration and telemanipulation of soft environments
Identifieur interne : 001225 ( PascalFrancis/Corpus ); précédent : 001224; suivant : 001226Design of bilateral teleoperation controllers for haptic exploration and telemanipulation of soft environments
Auteurs : M. C. Cavusoglu ; A. Sherman ; F. TendickSource :
- IEEE Transactions on Robotics and Automation [ 1042-296X ] ; 2002.
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
- Bilateral control design, Control system synthesis, Experiments, Force control, Free space tracking, Function evaluation, Haptic exploration, Haptic interfaces, Human operator uncertainties, Optimization, Robustness (control systems), Sensitivity analysis, Sensitivity function, Sensors, Soft environment telemanipulation, System stability, Telecontrol equipment, Teleoperation controllers, Theory, Uncertain systems.
Abstract
In this letter, teleoperation controller design for haptic exploration and telemanipulation of soft environments is studied. First, a new measure for fidelity in teleoperation is introduced which quantifies the teleoperation system's ability to transmit changes in the compliance of the environment. This sensitivity function is appropriate for the application of telesurgery, where the ability to distinguish small changes in tissue compliance is essential for tasks such as detection of embedded vessels. The bilateral teleoperation controller design problem is then formulated in a task-based optimization framework as the optimization of this metric, with constraints on free-space tracking and robust stability of the system under environment and human operator uncertainties. The control design procedure is illustrated with a case study. The analysis is also used to evaluate the effectiveness of using a force sensor in a teleoperation system.
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Pour connaître la documentation sur le format Inist Standard.
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Format Inist (serveur)
| NO : | PASCAL 03-0000673 EI |
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| ET : | Design of bilateral teleoperation controllers for haptic exploration and telemanipulation of soft environments |
| AU : | CAVUSOGLU (M. C.); SHERMAN (A.); TENDICK (F.) |
| AF : | Dept. of Elec. Eng. and Comp. Sci. Case Western Reserve University/Cleveland, OH 44106/Etats-Unis (1 aut.) |
| DT : | Publication en série; Niveau analytique |
| SO : | IEEE Transactions on Robotics and Automation; ISSN 1042-296X; Coden IRAUEZ; Etats-Unis; Da. 2002; Vol. 18; No. 4; Pp. 641-647; Bibl. 25 Refs. |
| LA : | Anglais |
| EA : | In this letter, teleoperation controller design for haptic exploration and telemanipulation of soft environments is studied. First, a new measure for fidelity in teleoperation is introduced which quantifies the teleoperation system's ability to transmit changes in the compliance of the environment. This sensitivity function is appropriate for the application of telesurgery, where the ability to distinguish small changes in tissue compliance is essential for tasks such as detection of embedded vessels. The bilateral teleoperation controller design problem is then formulated in a task-based optimization framework as the optimization of this metric, with constraints on free-space tracking and robust stability of the system under environment and human operator uncertainties. The control design procedure is illustrated with a case study. The analysis is also used to evaluate the effectiveness of using a force sensor in a teleoperation system. |
| CC : | 001D02D; 001D12E05; 001D03J03; 001A02I01; 001D01A; 001D02D06 |
| FD : | Théorie; Equipement télécommande; Interface haptique; Analyse sensibilité; Evaluation fonction; Optimisation; Robustesse système commande; Stabilité système; Système incertain; Commande force; Capteur; Synthèse système commande; Expérience |
| ED : | Bilateral control design; Teleoperation controllers; Haptic exploration; Soft environment telemanipulation; Sensitivity function; Free space tracking; Human operator uncertainties; Theory; Telecontrol equipment; Haptic interfaces; Sensitivity analysis; Function evaluation; Optimization; Robustness (control systems); System stability; Uncertain systems; Force control; Sensors; Control system synthesis; Experiments |
| LO : | INIST-21023 |
| ID : | 03-0000673 |
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Pascal:03-0000673Le document en format XML
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C.); SHERMAN (A.); TENDICK (F.)</AU><AF>Dept. of Elec. Eng. and Comp. Sci. Case Western Reserve University/Cleveland, OH 44106/Etats-Unis (1 aut.)</AF><DT>Publication en série; Niveau analytique</DT><SO>IEEE Transactions on Robotics and Automation; ISSN 1042-296X; Coden IRAUEZ; Etats-Unis; Da. 2002; Vol. 18; No. 4; Pp. 641-647; Bibl. 25 Refs.</SO><LA>Anglais</LA><EA>In this letter, teleoperation controller design for haptic exploration and telemanipulation of soft environments is studied. First, a new measure for fidelity in teleoperation is introduced which quantifies the teleoperation system's ability to transmit changes in the compliance of the environment. This sensitivity function is appropriate for the application of telesurgery, where the ability to distinguish small changes in tissue compliance is essential for tasks such as detection of embedded vessels. The bilateral teleoperation controller design problem is then formulated in a task-based optimization framework as the optimization of this metric, with constraints on free-space tracking and robust stability of the system under environment and human operator uncertainties. The control design procedure is illustrated with a case study. The analysis is also used to evaluate the effectiveness of using a force sensor in a teleoperation system.</EA><CC>001D02D; 001D12E05; 001D03J03; 001A02I01; 001D01A; 001D02D06</CC><FD>Théorie; Equipement télécommande; Interface haptique; Analyse sensibilité; Evaluation fonction; Optimisation; Robustesse système commande; Stabilité système; Système incertain; Commande force; Capteur; Synthèse système commande; Expérience</FD><ED>Bilateral control design; Teleoperation controllers; Haptic exploration; Soft environment telemanipulation; Sensitivity function; Free space tracking; Human operator uncertainties; Theory; Telecontrol equipment; Haptic interfaces; Sensitivity analysis; Function evaluation; Optimization; Robustness (control systems); System stability; Uncertain systems; Force control; Sensors; Control system synthesis; Experiments</ED><LO>INIST-21023</LO><ID>03-0000673</ID></server></inist></record>Pour manipuler ce document sous Unix (Dilib)
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