Passivity-based control for bilateral teleoperation: A tutorial
This tutorial revisits several of the most recent passivity-based controllers for nonlinear
bilateral teleoperators with guaranteed stability properties. These schemes, which include …
bilateral teleoperators with guaranteed stability properties. These schemes, which include …
Review of surgical robotic systems for keyhole and endoscopic procedures: state of the art and perspectives
Minimally invasive surgery, including laparoscopic and thoracoscopic procedures, benefits
patients in terms of improved postoperative outcomes and short recovery time. The …
patients in terms of improved postoperative outcomes and short recovery time. The …
Admittance-based controller design for physical human–robot interaction in the constrained task space
In this article, an admittance-based controller for physical human-robot interaction (pHRI) is
presented to perform the coordinated operation in the constrained task space. An …
presented to perform the coordinated operation in the constrained task space. An …
Admittance control for physical human–robot interaction
AQL Keemink, H Van der Kooij… - … International Journal of …, 2018 - journals.sagepub.com
This paper presents an overview of admittance control as a method of physical interaction
control between machines and humans. We present an admittance controller framework and …
control between machines and humans. We present an admittance controller framework and …
Haptic feedback and force-based teleoperation in surgical robotics
This article presents an overview of the current state of research and application of haptic
(primarily kinesthetic) feedback and force-based teleoperation in the context of surgical …
(primarily kinesthetic) feedback and force-based teleoperation in the context of surgical …
Telemanipulation with time delays
G Niemeyer, JJE Slotine - The International Journal of …, 2004 - journals.sagepub.com
In this paper we survey the development of the wave variable concept and examine wave-
based teleoperation. We study the behavior of force reflecting systems under unknown but …
based teleoperation. We study the behavior of force reflecting systems under unknown but …
Stable teleoperation with time-domain passivity control
A new bilateral control scheme is proposed to ensure stable teleoperation under a wide
variety of environments and operating speeds. System stability is analyzed in terms of the …
variety of environments and operating speeds. System stability is analyzed in terms of the …
Robotics and ai for teleoperation, tele-assessment, and tele-training for surgery in the era of covid-19: Existing challenges, and future vision
The unprecedented shock caused by the COVID-19 pandemic has severely influenced the
delivery of regular healthcare services. Most non-urgent medical activities, including elective …
delivery of regular healthcare services. Most non-urgent medical activities, including elective …
Human-oriented control for haptic teleoperation
S Hirche, M Buss - Proceedings of the IEEE, 2012 - ieeexplore.ieee.org
Haptic teleoperation enables the human to perform manipulation tasks in distant, scaled,
hazardous, or inaccessible environments. The human closes the control loop sending haptic …
hazardous, or inaccessible environments. The human closes the control loop sending haptic …
Telerobotics
G Niemeyer, C Preusche, S Stramigioli… - Springer handbook of …, 2016 - Springer
In this chapter we present an overview of the field of telerobotics with a focus on control
aspects. To acknowledge some of the earliest contributions and motivations the field has …
aspects. To acknowledge some of the earliest contributions and motivations the field has …