NDLI: A passive force amplifier

Content Provider	IEEE Xplore Digital Library
Author	Cagneau, B. Morel, G. Bellot, D. Zemiti, N. d'Agostino, G.A.
Copyright Year	2008
Description	Author affiliation: Inst. des Syst. Intelligents et Robot., Univ. Paris VI, Paris (Cagneau, B.; Morel, G.; Bellot, D.)
Abstract	The proposed robotic system provides the surgeon with an augmented sensation of the interaction forces between the instrument and the organ. Such a system aims at increasing the surgeon's dexterity for tasks requiring that only small forces be applied on the organ (eg. for micro-surgery). In the proposed setup, the surgeon manipulates a handle mounted on the instrument. This is a comanipulation system because the surgeon and the robot simultaneously manipulate the instrument. The proposed control scheme allows an augmented force control: the control law ensures that the instrument applies on the organ the same forces that the surgeon applies on the handle but decreased by a scale factor. As a consequence, the forces sensed by the surgeon are the forces between the instrument and the organ amplified by a scale factor. This control scheme is proved stable thanks to a passivity study. Indeed, passivity analysis is a useful tool for the stability analysis of a robot interacting with the environment. Experimental results are presented on a robot dedicated to minimally invasive surgery.
Starting Page	2079
Ending Page	2084
File Size	424516
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543513
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Surges Robot sensing systems Instruments Force control Force sensors Orbital robotics Medical robotics Minimally invasive surgery Force measurement Robotics and automation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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