Adaptive Robust Impedance Control for an Ear Surgical Device with Soft Interaction

2021 ◽  
pp. 1-1
Author(s):  
Zhao Feng ◽  
Wenyu Liang ◽  
Jie Ling ◽  
Xiaohui Xiao ◽  
Kok Kiong Tan ◽  
...  
Keyword(s):  
Impedance Control ◽  
Surgical Device ◽  
Soft Interaction

Soft Interaction Between Body Weight Support System and Human Using Impedance Control Based on Fractional Calculus

2012 ◽  
Vol 26 (11-12) ◽  
pp. 1253-1269 ◽  
Author(s):  
Yo Kobayashi ◽  
Takao Watanabe ◽  
Masatoshi Seki ◽  
Takeshi Ando ◽  
Masakatsu G. Fujie
Keyword(s):  
Body Weight ◽  
Fractional Calculus ◽  
Support System ◽  
Impedance Control ◽  
Body Weight Support ◽  
Weight Support ◽  
Soft Interaction ◽  
Body Weight Support System

Short stripping of the incompetent great saphenous vein by InvisiGrip® vein stripper

Phlebologie ◽  
2010 ◽  
Vol 39 (02) ◽  
pp. 77-81 ◽  
Author(s):  
A. G. Krasznai ◽  
E. C. M. Bollen ◽  
J. C. van der Kley ◽  
R. J. Th. J. Welten ◽  
G. M. J. M. Welten
Keyword(s):  
Success Rate ◽  
Saphenous Vein ◽  
Great Saphenous Vein ◽  
Femoral Nerve ◽  
Preoperative Selection ◽  
Superficial Wound ◽  
Good Cosmetic ◽  
Surgical Device ◽  
Femoral Nerve Injury ◽  
Selection Of

SummaryOur aim is to describe the results of a new short stripping technique for the treatment of the incompetent great saphenous vein (GSV) using a new developed surgical device. Patients, methods: 397 patients (498 legs) were treated with the InvisiGrip® Vein Stripper, which removes the GSV through a single groin incision, endovascular cutting and antegrade stripping by inversion. We reported the surgical success rate and postprocedural complications. Results: The mean age was 51 years, 74% were women. The success rate for removal of the GSV was 95%. The 23 failures were half patient related, half device related. In 82% of the strippings, one or two attempts were needed to successfully remove the GSV, which was done by invagination in 80%. Age, gender, BMI ≥30 kg/m2 and male GSV diameter were not associated with the number of attempts. Superficial wound infection, haematoma and temporary saphenous and femoral nerve injury occurred in 6 (1.6%), 0, 3 (0.8%) and 7 (1.9%) patients, respectively. Conclusion: The InvisiGrip® is highly successful for the removal of the GSV using short inverting stripping. Furthermore, it is simple, safe, associated with good cosmetic results and no preoperative selection of patients is necessary.

Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

2014 ◽  
Vol 672-674 ◽  
pp. 1770-1773 ◽  
Author(s):  
Fu Cheng Cao ◽  
Li Min Du
Keyword(s):  
Dynamic Response ◽  
Sliding Mode Control ◽  
Lower Limb ◽  
Control Method ◽  
Sliding Mode ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Active Rehabilitation ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

The study of impedance control of lower extremity exoskeleton

2020 ◽  
Author(s):  
Yali Han ◽  
Jinfei Shi ◽  
Han Sun ◽  
Weijie Zhou ◽  
Hongyao Guan ◽  
...  
Keyword(s):  
Lower Extremity ◽  
Impedance Control

scholarly journals Sensorless environment stiffness and interaction force estimation for impedance control tuning in robotized interaction tasks

2021 ◽  
Author(s):  
Loris Roveda ◽  
Dario Piga
Keyword(s):  
Impedance Control ◽  
Interaction Force ◽  
Industrial Robots ◽  
Force Estimation ◽  
Interaction Control ◽  
Stiffness Properties ◽  
Implementation Effort ◽  
Coupling Dynamics ◽  
And Control ◽  
Assembly Tasks

AbstractIndustrial robots are increasingly used to perform tasks requiring an interaction with the surrounding environment (e.g., assembly tasks). Such environments are usually (partially) unknown to the robot, requiring the implemented controllers to suitably react to the established interaction. Standard controllers require force/torque measurements to close the loop. However, most of the industrial manipulators do not have embedded force/torque sensor(s) and such integration results in additional costs and implementation effort. To extend the use of compliant controllers to sensorless interaction control, a model-based methodology is presented in this paper. Relying on sensorless Cartesian impedance control, two Extended Kalman Filters (EKF) are proposed: an EKF for interaction force estimation and an EKF for environment stiffness estimation. Exploiting such estimations, a control architecture is proposed to implement a sensorless force loop (exploiting the provided estimated force) with adaptive Cartesian impedance control and coupling dynamics compensation (exploiting the provided estimated environment stiffness). The described approach has been validated in both simulations and experiments. A Franka EMIKA panda robot has been used. A probing task involving different materials (i.e., with different - unknown - stiffness properties) has been considered to show the capabilities of the developed EKFs (able to converge with limited errors) and control tuning (preserving stability). Additionally, a polishing-like task and an assembly task have been implemented to show the achieved performance of the proposed methodology.

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

2021 ◽  
pp. 095440622098482
Author(s):  
Oladayo S Ajani ◽  
Samy FM Assal
Keyword(s):  
Impedance Control ◽  
Environmental Parameters ◽  
Robotic System ◽  
Robotic Systems ◽  
Full Potential ◽  
Robotic Assistance ◽  
Head Pose ◽  
Detection And Tracking ◽  
Control Scheme ◽  
Force Tracking

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

Sign in / Sign up

Export Citation Format

Share Document