A method for the dynamical estimation of environmental impedance by bilateral control

Takayoshi Takei, Tomoyuki Shimono, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Recently, Minimally Invasive Surgery (MIS) that has some advantages has come to the front. The research on surgical robot for operational support has been actively done. To use such robots in MIS, it is needed to estimate the environmental impedance as the numerical data and to preserve it from the viewpoint of knowing the standard reference value of the safety field of internal organs and from that of the support of education for the operation . In this paper, a novel method for the estimation of environmental impedance in a real environment by bilateral control is proposed. In this method, one degrees of freedom linear motor is used. And it enables environmental impedance to be estimated with an environmental reaction force by the reaction force observer based on the disturbance observer. It is able to estimate environmental impedance without depending on slave's initial position. Moreover, the impedance is enabled to be estimated dynamically by using past information. To verify the viability of the proposed method, experimental results are shown.

Original languageEnglish
Title of host publicationAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
Pages619-624
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Publication series

NameInternational Workshop on Advanced Motion Control, AMC
Volume1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Takei, T., Shimono, T., & Ohnishi, K. (2008). A method for the dynamical estimation of environmental impedance by bilateral control. In AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 619-624). [4516138] (International Workshop on Advanced Motion Control, AMC; Vol. 1). https://doi.org/10.1109/AMC.2008.4516138