Estimation of environmental model with nonlinear stiffness

Masataka Sato, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages721-725
Number of pages5
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

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Keywords

  • Bilateral control
  • Disturbance observer
  • Haptics
  • Impedance estimation

ASJC Scopus subject areas

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

Cite this

Sato, M., & Ohnishi, K. (2010). Estimation of environmental model with nonlinear stiffness. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 721-725). [5464039] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464039