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2-DOF Haptic Device based on Closed-loop EBA Controller for Gastroscope Intervention
Xue ZY(薛昭洋)1,3,4; Wang CY(王重阳)3,4,5; He X(何啸)3,4,5; Yu T(于涛)3,4,5; Dong, XY(董歆予)2,3,4; Liu H(刘浩)3,4,5
Department机器人学研究室
Conference Name16th IEEE International Conference on Mechatronics and Automation, ICMA 2019
Conference DateAugust 4-7, 2019
Conference PlaceTianjin, China
Source PublicationProceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
PublisherIEEE
Publication PlaceNew York
2019
Pages1806-1811
Indexed ByEI
EI Accession number20193907463419
Contribution Rank1
ISBN978-1-7281-1698-3
Keywordhaptic device Energy-bounding algorithm virtual wall test CHAI3D
AbstractForce perception plays an indispensable role in the surgical process and will be of great value in the medical field. It has a significant impact on the quality, efficiency and safety of surgery. The main purpose of this research is to design, control and evaluate a haptic device. An improved method of the output force is proposed, which based on the structure of the 2-DOF joystick consisting of motors, drives and sensors. The improved Energy-bounding algorithm (EBAC) is designed to output stable torque while considering static compensation. In order to compare the performance of three methods of Torque-control algorithm (TCA), Energy-bounding algorithm (EBA) and the EBAC, a virtual wall test is conducted in CHAI3D. The test results show that the EBAC has good real-time performance and reliability. The calculating precision of device is 0.03 mm, the workspace is 200 mm and the output force is within 10.6 N (continuous force) and 42.4 N (peak force).
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/25660
Collection机器人学研究室
Corresponding AuthorLiu H(刘浩)
Affiliation1.Control Engineering, Northeastern University, Shenyang, China
2.Shenyang Ligong University, Shenyang, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
5.Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, China
Recommended Citation
GB/T 7714
Xue ZY,Wang CY,He X,et al. 2-DOF Haptic Device based on Closed-loop EBA Controller for Gastroscope Intervention[C]. New York:IEEE,2019:1806-1811.
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