Force estimation and failure detection based on disturbance observer for an ear surgical device

Abstract

The disturbance observer is one of the useful tools for estimating the contact force between the subject body and the environment in robotic and mechatronic systems. This paper introduced a novel automatic office-based ear surgical device for the treatment of Otitis Media with Effusion (OME) under the guidance of force sensing information. Since the force sensing information must be reliable so as to ensure the safety of the device, a contact force estimation method based on the disturbance observer is proposed. The system model is built and a control strategy is proposed and developed. In the control strategy, a composite motion controller for an ultrasonic motor (USM) stage is presented, and then the design and the stability analysis of an advanced disturbance observer is given. Furthermore, a contact estimator and a failure detector, aiming to enhance the safety and reliability enhancement, are designed. Finally, the proposed control strategy is studied with both simulation and experiment. The experimental results show that the advanced disturbance observer can estimate the actual contact force correctly and precisely, and the disturbance observer based force estimation and failure detection method is feasible which can be used in force sensing, contact detection and fault diagnosis.