Bilateral Control Method Research Articles

The Catheter and Guidewire Operating Systems of Vascular Interventional Surgical Robots: A Systematic Review

Vascular interventional surgical robots (VISR) assisted doctors in surgery can not only protect doctors from X-ray radiation, but also improve the accuracy of surgery. The catheter and guidewire operating systems with master-slave operation mode play an important role in VISR. In recent years, the operating systems have gradually become a research hotspot. After nearly two decades of development, they have made great progress, but there are still some problems to be solved. This review first introduces the research necessity and development history of these operating systems. Then, we summarize the research direction of operating systems from the perspective of hardware devices and algorithms. In the hardware devices, we analyzed the catheter and guidewire operating mechanisms, contact force detection devices, master operating mechanisms and master force feedback devices. In the algorithm, we introduce the bilateral control methods, security strategies and skill evaluation methods. Next, we discuss the actual performance and shortcomings of the operating systems from the perspective of clinical application. Finally, we summarize the current problems of the operating systems and propose the future development direction. This review is helpful for researchers to understand the current situation, and provides a reference framework of catheter and guidewire operating system.

Analytical Evaluation of Force-Projecting Bilateral Control for Pneumatic Manipulators

This paper presents performance and stability analyses of the Force-Projecting Bilateral Control (the Force-Projecting Type) for master-follower operation of pneumatic manipulators. In this control method, the operational force on the master side is directly projected to the driving force on the follower. Unlike other bilateral control methods, the Force-Projecting Type does not have a position controller on the follower side. Therefore, it is considered highly suitable for manipulators with low-rigidity and slow response, such as pneumatic manipulators. In this study, the Force-Projecting Type was applied to a one-degree-of-freedom master-follower model with characteristics of low-rigidity and response delay as a pneumatic manipulator on the follower side, and the time and frequency responses were numerically investigated. Then, the responses were compared with those of the conventional Force-Reflecting Bilateral Control. As a result of the analyses, the Force-Projecting Type showed both higher stability and performance. In addition, the equivalent block diagram of the system suggests that the Force-Projecting Type is more robust to changes in environmental characteristics.

Design of Synchronization Tracking Adaptive Control for Bilateral Teleoperation System with Time-Varying Delays.

The performances of position synchronization and force interaction of the teleoperation system provide a safe and efficient way for operators to perform tasks in remote, hazardous environments. In practice, however, communication delays and dynamic uncertainties can impair the performance of position synchronization controls. Under the above factors, it is necessary to study and design appropriate bilateral control methods to achieve stable and effective position synchronization control. In this paper, a new adaptive control architecture based on velocity feedback filter and radial basis function neural network is proposed. In the proposed control scheme, only the position signal is transmitted during the communication process, and the speed feedback filter and compensation method are designed and adopted to avoid the use of acceleration signals. In addition, a new auxiliary variable with a tracking error integral term is used to reduce the steady-state error of position tracking under nonzero external environmental forces. Using the Lyapunov–Krasovskii method, the stability of closed-loop remote operating systems is demonstrated. In the simulation and experiment sections, the algorithm was verified separately and compared with other algorithms. The results of a master–slave robot system verify the tracking performance of our proposed control scheme.

A digital twin for 3D path planning of large-span curved-arm gantry robot

Gantry robots enjoy important applications in unmanned factories and intelligent manufacturing tasks. Aiming at the automated production of customized wooden furniture, this paper proposes a digital twin for three-dimensional (3D) path planning of a large-span curved-arm gantry robot. First, a digital twin platform is built to show the door panel loading and unloading process of the gantry robot. Then the 3D path planning problem and method are proposed based on the built platform. The core of the algorithm consists of a bilateral control method, a 3D mesh construction strategy, and multi-objective 3D path planning using assembly line scheduling. The bilateral control method is used to achieve the perception and control of the gantry robot in the physical space. The mesh construction strategy entails static point set construction, obstacle avoidance analysis, point set construction for leap obstacles, and convex plane construction analysis. Multi-objective 3D path planning is primarily based on the NavMesh algorithm, which leverages an assembly line scheduling model to complete the wooden door processing task. Experimental results show that the proposed method can ensure safety, improved production efficiency, and satisfactory real-time performance in controlling the real gantry robot.

Adaptive control of time delay teleoperation system with uncertain dynamics.

A bilateral adaptive control method based on PEB control structure is designed for a class of time-delay force feedback teleoperation system without external interference and internal friction to study the uncertainty of dynamic parameters and time delay. The stability and tracking performances of the closed-loop constant time delay teleoperation system are analyzed by Lyapunov stability theory. Finally, the controller designed in this paper is successfully applied to the teleoperation system composed of a two-degree of freedom rotating manipulator as the master robot and the slave robot. The simulation is carried out in no operator and environment force or with operator and environment force. The adaptive bilateral control method's control performance is compared with that of the traditional time-delay teleoperation system. Finally, it is verified that the method has good control performance.

Research on Control Method and Variable Topology Design of Wireless Power Transmission System with Coil Offset

Aiming at the coil offset of magnetic coupling wireless power transmission (WPT) system with the Series–Series (SS) resonance structure, in order to stabilize the transmission efficiency above 80% according to SAE J2954, Control method and variable topology design with the maximum lateral offset of 20 cm are researched on. In this paper, the mutual inductance theory is adopted to establish an equivalent circuit model of the system. The expressions of the transmission characteristics with coil offset are derived and the influence of coil offset on transmission characteristics is analyzed. According to the difference offsets, a bilateral control method with phase‐shift control on primary side and double closed‐loop control on secondary side for small offset (0, 10 cm) for constant voltage output at 200 V is adopted. In addition, a double‐sided LCC topology structure is developed for larger offset (10, 20 cm) with the maximum efficiency transmission method by parameter configuration. The simulation platform and the experiment platform are developed and the output characteristic experiments with different loads and different coupling coefficients under different offsets are finished to verify the results and provide a reference for the anti‐offset research of the system. © 2022 Institute of Electrical Engineers of Japan. Published by Wiley Periodicals LLC.

Excess Force Reduction in Bilateral Control for Precise and Safe Operation

This paper proposes a constrained bilateral control method to maintain a safe force limit in a remote environment in an event where the operator applies excessive force on the master system. The disturbance observer compensates system disturbances, and the reaction force observer (RFOB) estimates the external force exerted on individual. The paper introduces a force regulator called excess force reduced RFOB (EFR RFOB) to reduce the excessive force applied by the operator to the safe force limit. The amount of excess force is determined by adding the master-side RFOB output and the replica-side safe force limit. Acceleration-based bilateral control is implemented in a virtual space with a master virtual force input, virtual position response, and replica real force-position responses. It realizes transparency in the virtual space. This paper derives the relation between master-side real and virtual space variables to facilitate reproducibility between the master operator and replica environment. The restrained master force-position responses in the virtual space realize precise and safe force control on the replica-side in real space. The proposed method is verified using experiments.

Bilateral Output Feedback Control of Fractional PDEs with Space-Dependent Coefficients

Abstract This paper develops an extension of the bilateral control method for fractional partial differential equations (PDEs) with space-dependent coefficients by output feedback. Using a backstepping transformation, a full state feedback control law is designed. Then the fractional PDE system is folded into two subsystems and Mittag-Leffler convergent state observers of these subsystems are derived. Although the observers are coupled with boundary conditions (BCs), error subsystems are decoupled by assuming some available measurements. Hence, the observer gains are easily obtained. After this, we compose the designed state feedback controller and observers to enable Mittag-Leffler stabilization by output feedback. Finally, a fractional numerical example is provided to support the effectiveness of the proposed synthesis for the case when neither the control kernel nor the estimation kernel has an explicit solution.

Composite nonlinear bilateral control for teleoperation systems with external disturbances

This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer &#x0028 NDOB &#x0029 for teleoperation systems with external disturbances. By introducing the estimations of NDOB and systems&#x02BC nominal nonlinear dynamics into controller design, a NDOB based composite nonlinear bilateral controller is constructed to attenuate the influence of disturbance and uncertain nonlinearities. As compared with the existing bilateral control methods which usually achieve force haptic &#x0028 i.e., contact force tracking &#x0029 through a passive way, the newly proposed method has two major merits: asymptotical convergence of both position and force tracking errors is guaranteed; disturbance influence on force tracking error dynamics is rejected through the direct feedforward compensation of disturbance estimation. Simulations on a nonlinear teleoperation system are carried out and the results validate the effectiveness of the proposed controller.

Remote Control of Space Robots Change-Adaptive in its External Environment

In the paper a method of remote bilateral control of space robots operating in a non-deterministic environment with a large delay in control signals transmission is presented. The method provides adaptation of space robot behavior to possible changes in its external environment. Compared to the known approaches this method reduces influence of external environment variation on the control process.

Whole body motion control of humanoid robots using bilateral control

This paper deals with the whole body motion control problem of humanoid robots by using automatic and bilateral control methods. Advanced motion controllers are proposed so that human daily life activities, such as walking on an uneven terrain and contacting an unknown object, can be performed. It is shown that the uncertainty of environmental impedance variation is one of the main challenging issues in the design of the automatic control systems, i.e. a humanoid robot may easily lose its stability when it contacts an unstructured environment. A novel bilateral control method is proposed for humanoid robots so as to overcome the environmental uncertainty problem. It is shown that more dexterous and versatile tasks can be easily performed by transforming the skills of humans to humanoid robots in the proposed bilateral control system. A disturbance observer is used not only to achieve the robustness of the motion control system but also to perform sensorless contact motion control tasks. The performance of sensorless contact force estimation is significantly improved by deriving the exact dynamic model of humanoid robots. A floating point base exact dynamic model is derived by using the extended Newton-Euler algorithm. A new robot simulator is designed by using the proposed dynamic model and the Virtual Reality toolbox of MATLAB. Simulation results are given to show the validity of the proposals.

Studies on Bilateral Impedance Control Method for Teleoperation Robot

The bilateral PD control method for teleoperation robot has some defects, such as poor tracking performance and force feedback performance. This paper, based on traditional bilateral PD control method, adds an impedance controller to the master and the slave, and deduces the stability condition according to the absolute stability criterion. The simulation shows that this method can assure the system stability and improve tracking performance and force feedback performance.

2C31 BILATERAL TELEOPERATION CONTROL BASED ON SCATTERING AND VIRTUAL DAMPING(The 12th International Conference on Motion and Vibration Control)

This paper proposes a new bilateral control method of Single Master and Single Slave (SMSS) Tele-robot system. In this strategy, we propose a combination control method between PD and Scattering and Virtual Damping parameters to improve the tracking performance and transparency of Tele-robot, the reflecting force from slave side will be stable. Using Lyapunov technique, we can achieve the global stability of the control law. The achievement results of the proposed method are shown with the transparency improvement such as position and force between both sides of the Tele-robot system in two cases: the slave moves without any contact and the slave moves in contact with the environment. The simulation results showed the effectiveness of our proposed control method.

Key Technologies of Telepresence in Time-Delayed Teleoperation System: Review and Analysis

This paper reviews some key technologies and progress in the field of telepresence of teleoperation, meaning human sense and control of remote telerobot. Telepresence is the symbol of teleoperation, phenomenon of which enables the human to feel present at a remote location however a time-delay exits always in the teleoperation system. There are three means to conquer the effect: bilateral control method, virtual model based control and virtual reality technology. By optimizing control strategy user will get a perfect force or visual telepresence. Finally, opinions are given as to the further development of the field.

Bilateral Control Method Based on Transformation Matrix Relating Motion Features and Tool Coordinates

Bilateral Control Method Based on Transformation Matrix Relating Motion Features and Tool Coordinates

1A1-V10 可変型マスタースレーブ間結合力を有するバイラテラル制御による加工軌道制御(人間機械協調(1))

1A1-V10 可変型マスタースレーブ間結合力を有するバイラテラル制御による加工軌道制御(人間機械協調(1))

A Design Method of Force Dependent Velocity Bilateral Control Based on Gyrator Property

This paper proposes a bilateral control method for a teleoperation system with different sizes and work volumes. In the proposed controller, transformer-type bilateral control and gyrator-type bilateral control are integrated. The proposed control method can be used for the control of the motion of a slave robot; this involves intuitive manipulation of the master robot despite the structural difference between the master and slave.

An Approach to Force-Sensorless Bilateral Control in Master-Slave System with Different Configurations

In this paper, force-sensorless bilateral control methods for a master-slave system with different configurations are proposed. Two types of bilateral control architectures are presented. One is based on joint space control, and the other is based on work space control. This paper discusses the difference between these control methods from the viewpoint of motion behavior in the singular configuration. Finally, actual experimental results that confirm the validity of the proposed methods are shown.

1P1-G23 エアークッションを用いたモーションメディアデバイス : 触感通信のためのバイラテラル制御系(インフォマティブ・モーションとモーション・メディア-ロボットの身体性と運動-)

This paper describes the bilateral control of the Air-pillow telephone, which has been developed for touch sense communication via a pillow-shaped MotionMedia device using a pneumatic actuator. We propose a bilateral control method with some experimental results under TCP/IP network environment.

Decoupling Type Multilateral Control by Using Identity Ratio

In this paper, a noble bilateral control method is introduced to realize decoupled haptic transmission technology. At first, bilateral system based on acceleration control is discussed. Both of master and slave are controlled by position regulator and force servoing, and these two controllers are decomposed into two modes “common mode” and “differential mode” in the virtual space. Decomposed controller helps to control position and force information individually. Second, the bilateral control is extended and generalized as a multilateral control, which based on the decomposed controller. Third, to realize decoupled haptic information, IR (identity ratio) is introduced into differential mode. IR shows ratio of each input in the common mode. Although slave robot is controlled by a numbers of masters, each of masters can feel the sense which depend on their inputs. Fourth, numerical simulation and experimental results are shown. The numerical simulation and experimental results show the viability of the proposed method.