2-DOF Haptic Device based on Closed-loop EBA Controller for Gastroscope Intervention
文献类型：会议论文
| 作者 | Xue ZY(薛昭洋)5,6,8; Wang CY(王重阳)4,5,6; He X(何啸)4,5,6; Yu T(于涛)4,5,6; Dong, XY(董歆予)5,6,7; Liu H(刘浩)4,5,6
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| 出版日期 | 2019 |
| 会议日期 | August 4-7, 2019 |
| 会议地点 | Tianjin, China |
| 关键词 | haptic device Energy-bounding algorithm virtual wall test CHAI3D |
| 页码 | 1806-1811 |
| 英文摘要 | Force perception plays an indispensable role in the surgical process and will be of great value in the medical field. It has a significant impact on the quality, efficiency and safety of surgery. The main purpose of this research is to design, control and evaluate a haptic device. An improved method of the output force is proposed, which based on the structure of the 2-DOF joystick consisting of motors, drives and sensors. The improved Energy-bounding algorithm (EBAC) is designed to output stable torque while considering static compensation. In order to compare the performance of three methods of Torque-control algorithm (TCA), Energy-bounding algorithm (EBA) and the EBAC, a virtual wall test is conducted in CHAI3D. The test results show that the EBAC has good real-time performance and reliability. The calculating precision of device is 0.03 mm, the workspace is 200 mm and the output force is within 10.6 N (continuous force) and 42.4 N (peak force). |
| 产权排序 | 1 |
| 会议录 | Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-1698-3 |
| WOS记录号 | WOS:000539085600317 |
| 源URL | [http://ir.sia.cn/handle/173321/25660]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Liu H(刘浩) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.Shenyang Ligong University, Shenyang, China 3.Control Engineering, Northeastern University, Shenyang, China 4.Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, China 5.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 6.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 7.Shenyang Ligong University, Shenyang, China 8.Control Engineering, Northeastern University, Shenyang, China 9.Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, China 10.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Xue ZY,Wang CY,He X,et al. 2-DOF Haptic Device based on Closed-loop EBA Controller for Gastroscope Intervention[C]. 见:. Tianjin, China. August 4-7, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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