Estimation of environmental model with nonlinear stiffness

Masataka Sato; Kouhei Ohnishi

doi:10.1109/AMC.2010.5464039

Estimation of environmental model with nonlinear stiffness

Masataka Sato, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Recently, Minimally Invasive Surgery(MIS) 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 as the standard reference value of the safety field of internal organs. In this paper, the environmental model considering nonlinear stiffness in real environment by bilateral control is proposed. The proposed method can estimate environmental model without depending on the initial position of a slave system and environmental surface. To verify the viability of the proposed method, experimental results are shown.

Original language	English
Title of host publication	International Workshop on Advanced Motion Control, AMC
Pages	721-725
Number of pages	5
DOIs	https://doi.org/10.1109/AMC.2010.5464039
Publication status	Published - 2010
Event	2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan Duration: 2010 Mar 21 → 2010 Mar 24

Other

Other	2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Country	Japan
City	Nagaoka, Niigata
Period	10/3/21 → 10/3/24

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Keywords

Bilateral control
Disturbance observer
Haptics
Impedance estimation

ASJC Scopus subject areas

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

Cite this

Sato, M., & Ohnishi, K. (2010). Estimation of environmental model with nonlinear stiffness. In International Workshop on Advanced Motion Control, AMC (pp. 721-725). [5464039] https://doi.org/10.1109/AMC.2010.5464039

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Access to Document

10.1109/AMC.2010.5464039