Use of path planning techniques based on harmonic functions for the haptic guidance of teleoperated assembly tasks

Haptic devices allow the user to feel the reaction forces and torques that arise when the virtual object attached to the user-manipulated probe touches the other objects in the virtual environment. Additionally, the user may feel some guiding constrains and forces that aid him in the completion of a virtual task. Also haptic devices are used as master devices in teleoperation tasks and may include force reflection from the real forces sense by a force sensor located at the robot wrist. Both operation modes can be combined to set up an assisted teleoperation system able to execute assembly tasks. This paper proposes the use of path planning techniques based on harmonic functions to generate a guiding force that aids the user during the teleoperatio

Haptic feedback designs in teleoperation systems for minimal invasive surgery

One of the major shortcomings of state-of-the-art robotic systems for minimal invasive surgery is the lack of haptic feedback for the surgeon. In order to provide haptic information, sensors and actuators have to be added to the master and slave device. A control system should process the data and make a coupling between slave and master. Despite the significant amount of research on haptic devices, this control design problem is, largely, an open problem. This paper reports the results on three model-based control designs. Using the formalism of passivity, a robust controller has been designed, and is compared to a gain scheduled controller (LPV) which is adaptable for changes in the tissue characteristics

Haptic feedback designs in teleoperation systems for minimal invasive surgery ∗

Abstract – One of the major shortcomings of stateof-the-art robotic systems for minimal invasive surgery, is the lack of haptic feedback for the surgeon. In order to provide haptic information, sensors and actuators have to be added to the master and slave device. A control system should process the data and make a coupling between slave and master. Despite the significant amount of research on haptic devices, this control design problem is, largely, an open problem. This paper reports the results on three model-based control designs. Using the formalism of passivity, a robust controller has been designed, and is compared to a gain scheduled controller (LPV) which is adaptable for changes in the tissue characteristics