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Kawasaki H, Mouri T. Humanoid Robot Hand and its Applied Research. JOURNAL OF ROBOTICS AND MECHATRONICS 2019. [DOI: 10.20965/jrm.2019.p0016] [Citation(s) in RCA: 22] [Impact Index Per Article: 4.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
Humanoid robot hands are expected to replace human hands in the dexterous manipulation of objects. This paper presents a review of humanoid robot hand research and development. Humanoid hands are also applied to multifingered haptic interfaces, hand rehabilitation support systems, sEMG prosthetic hands, telepalpation systems, etc. The developed application systems in our group are briefly introduced.
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Kostyukova O, Vista FP, Chong KT. Design of feedforward and feedback position control for passive bilateral teleoperation with delays. ISA TRANSACTIONS 2019; 85:200-213. [PMID: 30385035 DOI: 10.1016/j.isatra.2018.10.006] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/24/2017] [Revised: 10/01/2018] [Accepted: 10/05/2018] [Indexed: 06/08/2023]
Abstract
Bilateral teleoperation systems connected to computer networks such as the internet must be able to operate with varying time delays since such systems can easily become unstable. A passivity concept has been used as the framework to solve the stability problem in the bilateral control of teleoperation systems. Passivity and tracking performance are recovered using a control architecture that incorporates time varying gains into the transmission path, feedforward, and feedback position control. The proposed architecture has an inner component that can accommodate any configuration but still remain stable and passive even with varying time delay. The simulation results for a single degree of freedom master/slave system demonstrate the performance of the proposed control architecture.
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Affiliation(s)
- Olga Kostyukova
- Department of Applied Math & Computer Science, Belarusian State University, Minsk, Belarus
| | - Felipe P Vista
- Electronic Engineering Department, Chonbuk National University, Jeonju City, South Korea
| | - Kil To Chong
- Electronic Engineering Department, Chonbuk National University, Jeonju City, South Korea.
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Abstract
SUMMARYThis paper presents a novel approach to implement bilateral control loops between local haptic devices and remote industrial manipulators using a layer of simulation and virtual reality. The remote scene of manipulation has been visualized in an open-source software environment, where forward and inverse kinematics of the manipulators can be computed. Therefore, the explicit knowledge of mathematical models of the robots is not required for the implementation of the proposed bilateral control schemes. A haptic coupling has been designed between the human operator and the task in the remote environment. Virtually introduced force feedback has contributed to the performance of the proposed bilateral loop by facilitating the adaptation of unexperienced human operators. Teleoperation of one remote manipulator has been experimentally demonstrated with the proposed controllers. Structural modularity of the bilateral haptic control schemes makes them directly extendable for the teleoperation of multiple collaborative robots. Stability and transparency of the proposed bilateral haptic controllers have been theoretically and experimentally investigated.
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Stability analysis of nonlinear telerobotic systems with time-varying communication channel delays using general integral inequalities. Inf Sci (N Y) 2018. [DOI: 10.1016/j.ins.2018.07.014] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
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Alibeji N, Dicianno BE, Sharma N. Bilateral Control of Functional Electrical Stimulation and Robotics-based Telerehabilitation. INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS 2017; 1:6-18. [PMID: 28959710 DOI: 10.1007/s41315-016-0003-5] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022]
Abstract
Currently a telerehabilitation system includes a therapist and a patient where the therapist interacts with the patient, typically via a verbal and visual communication, for assessment and supervision of rehabilitation interventions. This mechanism often fails to provide physical assistance, which is a modus operandi during physical therapy or occupational therapy. Incorporating an actuation modality such as functional electrical stimulation (FES) or a robot at the patient's end that can be controlled by a therapist remotely, to provide therapy or to assess and measure rehabilitation outcomes can significantly transform current telerehabilitation technology. In this paper, a position-synchronization controller is derived for FES-based telerehabilitation to provide physical assistance that can be controlled remotely. The newly derived controller synchronizes an FES-driven human limb with a remote physical therapist's robotic manipulator despite constant bilateral communication delays. The control design overcomes a major stability analysis challenge: the unknown and unstructured nonlinearities in the FES-driven musculoskeletal dynamics. To address this challenge, the nonlinear muscle model was estimated through two neural networks functions that approximated unstructured nonlinearities and an adaptive control law for structured nonlinearities with online update laws. A Lyapunov-based stability analysis was used to prove the globally uniformly ultimately bounded tracking performance. The performance of the state synchronization controller was validated through experiments on an able-bodied subject. Specifically, we demonstrated bilateral control of FES-elicited leg extension and a human operated robotic manipulator. The controller was shown to effectively synchronize the system despite unknown and different delays in the forward and backward channels.
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Affiliation(s)
- Naji Alibeji
- Department of Mechanical Engineering and Materials Science, University of Pittsburgh, Pittsburgh, PA,USA 15261
| | - Brad E Dicianno
- Department of Physical Medicine and Rehabilitation, University of Pittsburgh, Pittsburgh, PA,USA 15261
| | - Nitin Sharma
- Department of Mechanical Engineering and Materials Science, University of Pittsburgh, Pittsburgh, PA,USA 15261
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Yang Y, Hua C, Li J, Guan X. Finite-time output-feedback synchronization control for bilateral teleoperation system via neural networks. Inf Sci (N Y) 2017. [DOI: 10.1016/j.ins.2017.04.034] [Citation(s) in RCA: 42] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
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Hu HC, Liu YC. Passivity-based control framework for task-space bilateral teleoperation with parametric uncertainty over unreliable networks. ISA TRANSACTIONS 2017; 70:187-199. [PMID: 28781139 DOI: 10.1016/j.isatra.2017.07.024] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/17/2016] [Revised: 07/20/2017] [Accepted: 07/27/2017] [Indexed: 06/07/2023]
Abstract
Bilateral teleoperation systems developed in joint-space or in task-space without taking into account parameter uncertainties and unreliable communication have limited practical applications. In order to ensure stability, improve tracking performance, and enhance applicability, a novel task-space control framework for bilateral teleoperation with kinematic/dynamic uncertainties and time delays/packet losses is studied. In this paper, we have demonstrated that with the proposed control algorithms, the teleoperation system is stable and position tracking is guaranteed when the system is subjected to parametric uncertainties and communication delays. With the transformation of scattering variables, a packet modulation, called Passivity-Based Packet Modulation (PBPM), is proposed to cope with data losses, incurred in transmission of data over unreliable network. Moreover, numerical simulations and experiments are also presented to validate the efficiency of the developed control framework for task-space bilateral teleoperation.
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Affiliation(s)
- Hsin-Chen Hu
- Department of Mechanical Engineering, National Cheng Kung University, Tainan, Taiwan.
| | - Yen-Chen Liu
- Department of Mechanical Engineering, National Cheng Kung University, Tainan, Taiwan.
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D'Amore N, Akin DL. Transparency and Tuning of Wave-Based Bilateral Teleoperation Systems. IEEE Robot Autom Lett 2017. [DOI: 10.1109/lra.2016.2606659] [Citation(s) in RCA: 11] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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García-Valdovinos LG, Santacruz-Reyes H, López-Segovia AG, Bandala-Sánchez M, García-Zarco LA. Passive impedance-based second-order sliding mode control for non-linear teleoperators. INT J ADV ROBOT SYST 2017. [DOI: 10.1177/1729881416687127] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022] Open
Abstract
Bilateral teleoperation systems have attracted significant attention in the last decade mainly because of technological advancements in both the communication channel and computers performance. In addition, non-linear multi-degree-of-freedom bilateral teleoperators along with state observers have become an open research area. In this article, a model-free exact differentiator is used to estimate the full state along with a chattering-free second-order sliding mode controller to guarantee a robust impedance tracking under both constant and an unknown time delay of non-linear multi-degree-of-freedom robots. The robustness of the proposed controller is improved by introducing a change of coordinates in terms of a new nominal reference similar to that used in adaptive control theory. Experimental results that validate the predicted behaviour are presented and discussed using a Phantom Premium 1.0 as the master robot and a Catalyst-5 virtual model as the slave robot. The dynamics of the Catalyst-5 system is solved online.
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Affiliation(s)
| | - Hugo Santacruz-Reyes
- Center for Engineering and Industrial Development, Santiago de Querétaro, Querétaro, México
| | - Alan G López-Segovia
- Center for Engineering and Industrial Development, Santiago de Querétaro, Querétaro, México
| | - Manuel Bandala-Sánchez
- Center for Engineering and Industrial Development, Santiago de Querétaro, Querétaro, México
| | - Luis A García-Zarco
- Lazaro Cardenas Institute of Technology, Lázaro Cárdenas City, Michoacán, México
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A comparison between optimization algorithms applied to synchronization of bilateral teleoperation systems against time delay and modeling uncertainties. Appl Soft Comput 2014. [DOI: 10.1016/j.asoc.2014.07.020] [Citation(s) in RCA: 30] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
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Abstract
SUMMARYThis paper proposes control algorithms for heterogeneous teleoperation systems to guarantee stability and tracking performance in the presence of time-varying communication delays. Because robotic manipulators, in most applications of bilateral teleoperation systems, interact with a human operator and remote environment on the end-effector, the control system is developed in the task-space. When the dynamic parameters of the robots are unknown and the communication network is subject to time-varying delay, the developed controller can ensure stability and task-space position tracking. Additionally, if the robotic systems are influenced by human and environmental forces, the presented teleoperation control system is demonstrated to be stable and all signals are proven to be ultimately bounded. By employing the redundancy of the slave robot for sub-task control, the proposed teleoperation system can autonomously achieve additional missions in the remote environment. Numerical examples utilizing a redundant planar robot are addressed to validate the proposed task-space teleoperators with time-varying delay.
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Heck D, Heemskerk C, Koning J, Abbasi A, Nijmeijer H. Robust haptic large distance telemanipulation for ITER. FUSION ENGINEERING AND DESIGN 2013. [DOI: 10.1016/j.fusengdes.2013.02.161] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/27/2022]
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Hua CC, Yang Y, Guan X. Neural network-based adaptive position tracking control for bilateral teleoperation under constant time delay. Neurocomputing 2013. [DOI: 10.1016/j.neucom.2013.01.016] [Citation(s) in RCA: 32] [Impact Index Per Article: 2.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/27/2022]
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Haddadi A, Hashtrudi-Zaad K. Robust stability of teleoperation systems with time delay: a new approach. IEEE TRANSACTIONS ON HAPTICS 2013; 6:229-241. [PMID: 24808306 DOI: 10.1109/toh.2012.52] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/03/2023]
Abstract
In this paper, we propose an approach to the control of linear teleoperation systems under time delays. Unlike traditional delay-robust control systems that guarantee passive communication channel through the transmission of wave variables, the new approach uses the concept of absolute stability for the physically expressive Lawrence's four-channel structure for transmitting the standard power variables, i.e., force and position. By incorporating kinesthetic performance requirements, we derive an absolutely stable four-channel controller that is transparent when time delay is negligible. Experimentally, the study evaluates and compares the performance of the proposed controller with that of a benchmark wave variable-based controller. The results indicate contact stability for large delays, a lack of position drift, and improved position and force tracking in both the free motion and rigid contact regimes for small delays.
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Ghorbanian A, Rezaei SM, Khoogar AR, Zareinejad M, Baghestan K. A novel control framework for nonlinear time-delayed dual-master/single-slave teleoperation. ISA TRANSACTIONS 2013; 52:268-277. [PMID: 23146205 DOI: 10.1016/j.isatra.2012.09.003] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/26/2012] [Revised: 07/09/2012] [Accepted: 09/12/2012] [Indexed: 06/01/2023]
Abstract
A novel trilateral control architecture for the Dual-master/Single-slave teleoperation is proposed in this paper. This framework has been used in surgical training and rehabilitation applications. In this structure, the slave motion has been controlled by weighted summation of signals transmitted by the operator referring to task control authority through the dominance factors. The nonlinear dynamics for telemanipulators are considered which were considered as disregarded issues in previous studies of this field. Bounded variable time-delay has been considered which affects the transmitted signals in the communication channels. Two types of controllers have been offered and an appropriate stability analysis for each controller has been demonstrated. The first controller includes Proportional with dissipative gains (P+d). The second one contains Proportional and Derivative with dissipative gains (PD+d). In both cases, the stability of the trilateral control framework is preserved by choosing appropriate controller's gains. It is shown that these controllers attempt to coordinate the positions of telemanipulators in the free motion condition. The stability of the Dual-master/Single-slave teleoperation has been proved by an appropriate Lyapunov like function and the stability conditions have been studied. In addition the proposed PD+d control architecture is modified for trilateral teleoperation with internet communication between telemanipulators that caused such communication complications as packet loss, data duplication and swapping. A number of experiments have been conducted with various levels of dominance factor to validate the effectiveness of the new control architecture.
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Affiliation(s)
- A Ghorbanian
- Department of Mechanical Engineering, AmirKabir University of Technology, Tehran, Iran.
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Chen Z, Liang B, Zhang T, Wang X. Bilateral Teleoperation in Cartesian Space with Time-Varying Delay. INT J ADV ROBOT SYST 2012. [DOI: 10.5772/51321] [Citation(s) in RCA: 8] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
The bilateral control of a teleoperator in Cartesian space with time-varying delay is studied in this paper. Compared with the traditional joint-space teleoperation mode, bilateral control in Cartesian space has advantages when dealing with the kinematically dissimilar (KDS) teleoperation systems. A Cartesian space-based PD-like bilateral controller with dissipation factors is designed. Considering the fact that attitude errors derived by rotation matrix cannot be directly used for PD control, a quaternion-based approach is adopted to calculate the attitude errors in Cartesian space. In order to overcome the instability brought about by communication delay, local damping components are employed at both ends of the teleoperator system. The variation of time delay may generate extra energy and influence the stability of the system, thus dissipation factors are introduced into the controller. The stability of the proposed bilateral controller is proved and the simulations show the effectiveness of the approach.
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Affiliation(s)
- Zhang Chen
- Department of Automation, Tsinghua University, China
| | - Bin Liang
- Department of Automation, Tsinghua University, China
- Harbin Institute of Technology, Harbin, China
| | - Tao Zhang
- Department of Automation, Tsinghua University, China
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Nuño E, Basañez L, Ortega R, Spong MW. Position Tracking for Non-linear Teleoperators with Variable Time Delay. Int J Rob Res 2009. [DOI: 10.1177/0278364908099461] [Citation(s) in RCA: 193] [Impact Index Per Article: 12.9] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
In this paper the problem of position tracking in the presence of variable time delay is studied. It is proved that simple P-like and PD-like controllers can stabilize the teleoperator under variable time delays and, moreover, they provide position tracking. Then, a controller based on the scattering transformation that also provides position tracking is proposed. In this paper we present the conditions under which the velocities and position error of the non-linear teleoperator, for the three controllers, are bounded, and if the human does not move the local manipulator and the remote manipulator does not interact with the environment, then it is proved that velocities and position error converge to zero. Simulations and real experiments, using the Internet from Urbana-Champaign (USA) to Barcelona (Spain), validate the proposed schemes.
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Affiliation(s)
- Emmanuel Nuño
- Institute of Industrial and Control Engineering, Technical University of Catalonia, Av. Diagonal 647, 08028 Barcelona, Spain,
| | - Luis Basañez
- Institute of Industrial and Control Engineering, Technical University of Catalonia, Av. Diagonal 647, 08028 Barcelona, Spain,
| | - Romeo Ortega
- Laboratoire des Signaux et Systèmes, CNRS-SUPÉLEC, Plateau de Moulon, 91190 Gif-sur-Yvette, France,
| | - Mark W. Spong
- Erik Jonsson School of Engineering and Computer Science, University of Texas at Dallas, 800 West Campbell Road, Richardson, TX 75080-3021, USA,
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Abstract
Minimally invasive surgery systems typically involve thin and cable-driven surgical instruments. This introduces link and joint flexibility in the slave robot of a master—slave teleoperation system, reducing the effective stiffness of the slave and the transparency of teleoperation. In this paper, we analyze transparency under slave link and joint flexibility (tool flexibility). We also evaluate the added benefits of using extra sensors at the tip of the flexible robot. It is shown that tip velocity (or position) feedback improves free-space position tracking performance in the presence of robot flexibility. Also, when the interaction forces with an environment are measured by a force sensor and fed back to the user’s hand, tip velocity feedback improves hard-contact force tracking performance. During a hard contact task, tip velocity feedback can also eliminate the transmission of robot flexibility to the user’s hand.
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Affiliation(s)
- M. Tavakoli
- Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada,
| | - Robert D. Howe
- BioRobotics Laboratory, School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA,
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Abstract
Recently, within a centralized control framework, the authors proposed a time-delay reduction method to achieve improved transparency in time-delay teleoperation. In this paper, a decentralized version of the controller is introduced that can further enhance the teleoperation transparency and robust stability by allowing the use of local delay-free measurements in local master/slave controllers. State/observation transformations are proposed that produce delay-free dynamics/measurements from the perspective of the local controllers at the master and slave stations. It is shown that the use of local suboptimal linear quadratic Gaussian master and slave controllers results in a delayed state perturbation term in the closed-loop dynamics. The stability of the system is then analyzed using a delay-dependent frequency sweeping test. The controllers employ a simple switching logic to handle large variations in the environment dynamics from free motion to rigid contact. The performance and robustness of the new decentralized controller are compared with those of the centralized controller using numerical analysis. Experimental results demonstrate the effectiveness of the proposed approach.
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Affiliation(s)
- Ali Shahdi
- Department of Electrical and Computer Engineering, McMaster University, Hamilton, Ontario, Canada L8S 4K1
| | - Shahin Sirouspour
- Department of Electrical and Computer Engineering, McMaster University, Hamilton, Ontario, Canada L8S 4K1,
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Nuno E, Ortega R, Barabanov N, Basanez L. A Globally Stable PD Controller for Bilateral Teleoperators. IEEE T ROBOT 2008. [DOI: 10.1109/tro.2008.921565] [Citation(s) in RCA: 218] [Impact Index Per Article: 13.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
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