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Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots | |
Xie, Yiping(谢亿平)1,2![]() ![]() | |
发表期刊 | Robotics
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2023-03 | |
卷号 | 12期号:2页码:52 |
产权排序 | 2 |
摘要 | Continuum robots are increasingly used in medical applications and the master–slave-based architectures are still the most important mode of operation in human–machine interaction. However, the existing master control devices are not fully suitable for either the mechanical mechanism or the control method. This study proposes a brand-new, four-degree-of-freedom haptic joystick whose main control stick could rotate around a fixed point. The rotational inertia is reduced by mounting all powertrain components on the base plane. Based on the design, kinematic and static models are proposed for position perception and force output analysis, while at the same time gravity compensation is also performed to calibrate the system. Using a continuum-mechanism-based trans-esophageal ultrasound robot as the test platform, a master–slave teleoperation scheme with position–velocity mapping and variable impedance control is proposed to integrate the speed regulation on the master side and the force perception on the slave side. The experimental results show that the main accuracy of the design is within 1.6°. The workspace of the control sticks is −60° to 110° in pitch angle, −40° to 40° in yaw angle, −180° to 180° in roll angle, and −90° to 90° in translation angle. The standard deviation of force output is within 8% of the full range, and the mean absolute error is 1.36°/s for speed control and 0.055 N for force feedback. Based on this evidence, it is believed that the proposed haptic joystick is a good addition to the existing work in the field with well-developed and effective features to enable the teleoperation of continuum robots for medical applications. |
关键词 | haptic device gravity compensation continuum robot teleoperation variable impedance control |
学科门类 | 工学 ; 工学::机械工程 ; 工学::控制科学与工程 |
DOI | 10.3390/robotics12020052 |
收录类别 | 其他 |
语种 | 英语 |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 人工智能+医疗 |
国重实验室规划方向分类 | 实体人工智能系统(软、硬件) |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/51849 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Wang, Shuangyi(王双翌) |
作者单位 | 1.中国科学院大学人工智能学院 2.中国科学院自动化研究所 3.中国科学院香港创新研究院人工智能与机器人创新中心 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Xie, Yiping,Hou, Xilong,Wang, Shuangyi. Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots[J]. Robotics,2023,12(2):52. |
APA | Xie, Yiping,Hou, Xilong,&Wang, Shuangyi.(2023).Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots.Robotics,12(2),52. |
MLA | Xie, Yiping,et al."Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots".Robotics 12.2(2023):52. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
robotics-12-00052.pd(3916KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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