Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation

Pedro Moreira 1 Nabil Zemiti 1 Chao Liu 1 Philippe Poignet 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Controlling the interaction between robots and living soft tissues has become an important issue as the number of robotic systems inside the operating room increases. Many researches have been done on force control to help surgeons during medical procedures, such as physiological motion compensation and tele-operation systems with haptic feedback. In order to increase the performance of such controllers, this work presents a novel force control scheme using Active Observer (AOB) based on a viscoelastic interaction model. The control scheme has shown to be stable through theoretical analysis and its performance was evaluated by in-vitro experiments. In order to evaluate how the force control scheme behaves under the presence of physiological motion, experiments considering breathing and beating heart disturbances are presented. The proposed control scheme presented a stable behavior in both static and moving environment. The viscoelastic AOB presented a compensation ratio of 87% for the breathing motion and 79% for the beating heart motion.
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Journal articles
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00940940
Contributor : Nabil Zemiti <>
Submitted on : Monday, February 3, 2014 - 10:52:49 AM
Last modification on : Monday, December 17, 2018 - 11:36:04 AM

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Pedro Moreira, Nabil Zemiti, Chao Liu, Philippe Poignet. Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation. Computer Methods and Programs in Biomedicine, Elsevier, 2014, 116 (2), pp.52-67. ⟨10.1016/j.cmpb.2014.01.017⟩. ⟨lirmm-00940940⟩

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