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tele-sonography
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Nonlinear Bilateral Adaptive Impedance Control with Applications in Medical Robotics
, Ph.D. Dissertation Sharif University of Technology ; Salarieh, Hassan (Supervisor) ; Behzadipour, Saeed (Supervisor) ; Tavakoli, Mahdi (Co-Advisor)
Abstract
In recent years, teleoperation systems have been widely used in bio-medical applications such as minimally invasive telesurgery, telerehabilitation and telesonography, and also for outer space exploration and radioactive material management. In bilateral teleoperation systems, the human operator applies force on the master robot to control the position of the slave robot in order to perform a task in a remote environment. A nonlinear robust adaptive bilateral impedance control strategy is proposed in this research to provide the absolute stability of multi-DOF teleoperation systems with communication delays. Using this controller, instead of conventional position tracking (synchronization)...