Presentations (Electrical and Computer Engineering)
Items in this Collection
- 6Ali Jazayeri
- 6Mahdi Tavakoli
- 2Lingbo Cheng and Mahdi Tavakoli
- 2Matthew Dyck
- 1Alireza Mohammadi
- 1Khadem, Mohsen
- 2Bilateral Teleoperation
- 2Medical robotics
- 2Stability Analysis
- 1Absolute Stability
A bilateral teleoperation system includes a human operator and an environment, which make the system stability analysis complicated due to their unknown, time-varying and nonlinear nature. Unable to have exact models for the human operator and the environment, it is typically assumed that they...
In a bilateral teleoperation system, conditions involving open-loop model parameters and controller parameters for ensuring teleoperator passivity are useful as control design guidelines to attain maximum teleoperation transparency (due to passivity/transparency tradeoffs). By teleoperator, we...
Flexible and lightweight surgical tools have the potential to significantly increase the dexterity of mechatronics assisted surgical systems for minimally invasive surgeries. However, the control of a mechatronics-assisted system with the link and joint flexibility is quite challenging and needs...
Conventional approaches for stability analysis of bilateral teleoperation systems assume that the human operator does not inject energy into the system and behaves in a passive manner. Does this assumption hold for various tasks the human operator may execute in a teleoperation context? To answer...
Manipulability of Teleoperated Surgical Robots with Application in Design of Master/Slave ManipulatorsDownload
Teleoperated surgical robots can significantly improve the performance of minimally invasive surgeries. The performance of a master-slave robotic system depends significantly on the capability of its master device to appropriately interface the user with the slave robot. However, master robots...
A neural-network-based heart motion prediction method is proposed for ultrasound-guided beating-heart surgery to compensate for time delays caused by ultrasound (US) image acquisition and processing. Such image processing is needed for tracking heart tissue in US images, which is itself...
The PHANToM R devices (SensAble Technologies Inc., MA, USA) provide the users in industry and academia with an opportunity for research and education in virtual reality, haptics, robot motion control and teleoperation. Traditionally, one has to develop C/C++ codes using the OpenHaptics R software...
Revisiting Llewellyn's Absolute Stability Criterion for Bilateral Teleoperation Systems under Non-passive Operator or EnvironmentDownload
Stability of a haptic teleoperation system is influenced by the typically uncertain, time-varying and/or unknown dynamics of the operator and the environment. For a stability analysis that is independent of the operator and the environment dynamics, Llewellyn's absolute stability criterion...
— In this paper, a semi-autonomous robot control system is developed for 3D robotic tracking of the complex physiological organ motion introduced by respiration and heartbeat in cardiac surgery. The same control system enables the surgeon’s hand to perceive the non-oscillatory portion of...
In a haptic teleoperation system, closed-loop stability is influenced by the human operator and the environment dynamics, which are typically uncertain, time-varying or unknown. Therefore, in lieu of stability, the passivity of a teleoperation system as a sufficient condition for stability is...