DocumentCode
878120
Title
Improvement of haptic feedback fidelity for telesurgical applications
Author
Wang, X. ; Liu, P.X.
Author_Institution
Dept. of Syst. & Comput. Eng., Carleton Univ., Ottawa, Ont., Canada
Volume
42
Issue
6
fYear
2006
fDate
3/16/2006 12:00:00 AM
Firstpage
327
Lastpage
329
Abstract
A new controller design method for bilateral force-reflecting teleoperators orientated to telesurgical applications is presented. The impedance of the remote environment is estimated online and the parameters of the system controller are adaptively updated accordingly. The proposed method shows quite visible improvement of haptic (force) feedback fidelity under the condition of stability compared to traditional passivity-based approaches.
Keywords
adaptive control; haptic interfaces; medical control systems; robust control; surgery; telemedicine; adaptive robust controller design; bilateral force-reflecting teleoperators; haptic feedback fidelity; telesurgery; telesurgical applications;
fLanguage
English
Journal_Title
Electronics Letters
Publisher
iet
ISSN
0013-5194
Type
jour
DOI
10.1049/el:20064042
Filename
1610411
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