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Enhancement of Kinesthetic Perception for Microsurgical Teleoperation using Impedance-Shaping

2008

Conference Paper

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A new control scheme is developed in this paper for a bilateral teleoperation system for microsurgical applications. The main objective of the proposed control scheme is to enhance the kinesthetic perception of the operator. First, the kinesthetic perception, based on psychophysics, is classified into three metrics of detection, sensitivity of detection, and discrimination. Additionally, a new performance index is introduced as a combination of these three metrics to quantify the kinesthetic performance. Second, modified macro-micro bilateral control system using an impedance-shaping method is proposed. The proposed controller can increase kinesthetic perception by shaping and magnifying the transmitted impedance to the operator. Finally, the performance of the proposed controller is verified in a comparison with the two-channel position-position (PP) controller, the two-channel force-position (FP) controller, and the four-channel transparency- optimized controller.

Author(s): Son, HI. and Lee, DY.
Journal: International Conference of the IEEE Engineering in Medicine and Biology Society
Pages: 1939-1942
Year: 2008
Month: August
Day: 0
Publisher: IEEE

Department(s): Empirical Inference
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/IEMBS.2008.4649567
Event Name: 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2008)
Event Place: Vancouver, BC, Canada

Address: Piscataway, NJ, USA
Digital: 0
ISBN: 978-1-4244-1814-5
Language: en
Organization: Max-Planck-Gesellschaft
School: Biologische Kybernetik

Links: Web

BibTex

@inproceedings{6465,
  title = {Enhancement of Kinesthetic Perception for Microsurgical Teleoperation using Impedance-Shaping},
  author = {Son, HI. and Lee, DY.},
  journal = {International Conference of the IEEE Engineering in Medicine and Biology Society},
  pages = {1939-1942},
  publisher = {IEEE},
  organization = {Max-Planck-Gesellschaft},
  school = {Biologische Kybernetik},
  address = {Piscataway, NJ, USA},
  month = aug,
  year = {2008},
  month_numeric = {8}
}