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Conference Paper

Haptic Control with Environment Estimation for Telesurgery


Son,  HI
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Bhattacharjee, T., Son, H., & Lee, D. (2008). Haptic Control with Environment Estimation for Telesurgery. In 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2008) (pp. 3241-3244). Piscataway, NJ, USA: IEEE.

Cite as:
Success of telesurgical operations depends on better position tracking ability of the slave device. Improved position tracking of the slave device can lead to safer and less strenuous telesurgical operations. The two-channel force-position control architecture is widely used for better position tracking ability. This architecture requires force sensors for direct force feedback. Force sensors may not be a good choice in the telesurgical environment because of the inherent noise, and limitation in the deployable place and space. Hence, environment force estimation is developed using the concept of the robot function parameter matrix and a recursive least squares method. Simulation results show efficacy of the proposed method. The slave device successfully tracks the position of the master device, and the estimation error quickly becomes negligible.