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
fDate :
3/16/2006 12:00:00 AM
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;
Journal_Title :
Electronics Letters
DOI :
10.1049/el:20064042
