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- 3Teleoperation
- 2Bilateral Teleoperation
- 2Impedance Control
- 2Stability
- 2Stability Analysis
- 13Electrical and Computer Engineering, Department of
- 13Electrical and Computer Engineering, Department of/Presentations (Electrical and Computer Engineering)
- 1Rehabilitation Medicine, Faculty of
- 1Rehabilitation Medicine, Faculty of/General Rehabilitation Medicine
- 1Biomedical Engineering, Department of
- 1Biomedical Engineering, Department of/Presentations (Biomedical Engineering)
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A Low-cost Intrinsically Safe Mechanism for Physical Distancing Between Clinicians and Patients
Download2021-01-01
Abed Soleymani, Ali Torabi, Mahdi Tavakoli
Abed Soleymani, Ali Torabi, Mahdi Tavakoli
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2011-06-21
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...
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EMG-based Hybrid Impedance-Force Control for Human-Robot Collaboration on Ultrasound Imaging
Download2022-11-03
Teng Li, Hongjun Xing, Hamid D. Taghirad, Mahdi Tavakoli
ABSTRACT: Ultrasound (US) imaging is a common but physically demanding task in the medical field, and sonographers may need to put in considerable physical effort for producing high-quality US images. During physical human-robot interaction on US imaging, robot compliance is a critical feature...
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2022-11-04
Amir Zakerimanesh, Tony Z. Qiu, Mahdi Tavakoli
Platooning which is defined as controlling a group of autonomous vehicles (multiple followers and one leader) to have a desired distance between them while following a desired trajectory has caught on recently in the control engineering discipline. Platooning brings along promising advantages,...
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Improving a User's Haptic Perceptual Sensitivity by Optimizing Effective Manipulability of a Redundant User Interface
Download2022-11-03
Teng Li, Ali Torabi, Hongjun Xing, Mahdi Tavakoli
ABSTRACT: Human perceptual sensitivity of various types of forces, e.g., stiffness and friction, is important for surgeons during robotic surgeries such as needle insertion and palpation. However, force feedback from robot end-effector is usually a combination of desired and undesired force...
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Integrating Impedance Control and Nonlinear Disturbance Observer for Robot-Assisted Arthroscope Control in Elbow Arthroscopic Surgery
Download2022-11-03
Teng Li, Armin Badre, Hamid D. Taghirad, Mahdi Tavakoli
ABSTRACT: Robot-assisted arthroscopic surgery is transforming the tradition in orthopaedic surgery. Compliance and stability are essential features that a surgical robot must have for safe physical human-robot interaction (pHRI). Surgical tools attached at the robot end-effector and human-robot...
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2013-01-01
Matthew Dyck, Ali Jazayeri, Mahdi Tavakoli
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...
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2011-06-05
Alireza Mohammadi, Mahdi Tavakoli, Ali Jazayeri
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...
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Revisiting Llewellyn's Absolute Stability Criterion for Bilateral Teleoperation Systems under Non-passive Operator or Environment
Download2012-10-07
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...