Article
Chemistry, Analytical
Siyuan Liu, Chao Sun
Summary: This research integrates virtual reality technology with master-slave control technology to design a master-slave control system for hands. It captures the position, orientation, and finger joint angles of the user's hand in real time and synchronizes the motion of the slave interactive device with that of a virtual hand. The experimental results demonstrate the system's stability and satisfactory interactive effects.
Article
Robotics
Guoxin Li, Zhijun Li, Zhen Kan
Summary: This article introduces an assimilation control method that reshapes the physical interaction trajectory to enable collaboration and competition in human-robot systems. It utilizes force feedback to achieve safe manipulation and broader interaction behaviors.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Computer Science, Artificial Intelligence
Sarvesh Saini, M. Felix Orlando, Pushparaj Mani Pathak
Summary: This study presents a master-slave based free environment on-line trajectory control system for a redundant surgical robot, which can provide precise positioning and tracking for various medical applications. The proposed intelligent control technique learns the inverse kinematics relationship of the robot and eliminates the need for real-time computation. Comparative studies show that the proposed method outperforms other control algorithms in terms of trajectory tracking performance.
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2022)
Article
Automation & Control Systems
Sarvesh Saini, M. Felix Orlando, Pushparaj Mani Pathak
Summary: This work presents a master-slave robotic surgical system for natural orifice transluminal endoscopic surgery (NOTES) using an in-vivo robot. A novel dual-loop control and impedance controller are developed to ensure accurate tracking and prevent damage to healthy tissues. The stability and efficacy of the system are validated through simulation and experimental studies.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2023)
Article
Chemistry, Analytical
I-Hsum Li, Yi-Shan Lin, Lian-Wang Lee, Wei-Ting Lin
Summary: The pneumatic-driven robotic passive gait training system (PRPGTS) is designed to assist patients with weakened lower limbs in gait rehabilitation, utilizing soft joints for passive safety, and incorporating five interval type-2 fuzzy sliding controllers for accurate trajectory tracking.
Article
Engineering, Electrical & Electronic
Nengbing Zhou, Yali Liu, Qiuzhi Song, Dehao Wu
Summary: In this paper, a cooperative movement mode between human and passive exoskeleton was explored to reduce the body-exoskeleton interaction force. By analyzing the kinematic and dynamic constraints of the exoskeleton and establishing a dynamic model, a mode that uses human gravity and load weight to maintain the stability of the exoskeleton's movement was proposed. The simulation results showed a reduction of 98.5% in the interaction force at the lower leg, and the experimental results demonstrated a 65.1% reduction in the body-exoskeleton interaction force. The research provided a new analytical approach for the design of a passive exoskeleton and can guide its improvement.
Article
Computer Science, Artificial Intelligence
P. Selvaraj, O. M. Kwon, S. H. Lee, R. Sakthivel
Summary: This paper investigates the robust synchronization problem for a class of master-slave neural networks subject to network-induced delays, unknown time-varying uncertainty, and exogenous disturbances. Various methods are applied to achieve synchronization and improve performance. The event-triggered control protocol and EID estimation technique are used to optimize system output and performance.
Article
Biology
Farhad Farhadiyadkuri, Ahmad Masih Popal, Shaabanullah Sharif Paiwand, Xuping Zhang
Summary: This paper presents a novel robotic exoskeleton for controlling the motion and forces exerted on the torso in the treatment of Adolescent Idiopathic Scoliosis (AIS). The exoskeleton utilizes dynamical formulation and a mass-spring-damper model to model the AIS rehabilitation process. It also employs impedance control and a Model Reference Adaptive Impedance Control (MRAIC) to improve the interaction control.
COMPUTERS IN BIOLOGY AND MEDICINE
(2022)
Article
Engineering, Electrical & Electronic
Wei Zhou, Shuxiang Guo, Jin Guo, Fanxu Meng, Zhengyang Chen, Chuqiao Lyu
Summary: A novel master manipulator based on surgeon's habits has been developed in this study, which can measure operating displacements using a non-contact method and provide independent axial and circumferential force feedback. Through calibration and evaluation experiments, this master manipulator has shown better comprehensive properties.
IEEE SENSORS JOURNAL
(2022)
Article
Computer Science, Information Systems
Mohammadhadi Sarajchi, Konstantinos Sirlantzis
Summary: This study presents a new lower-limb exoskeleton design specifically tailored for children, utilizing anthropometric data and conducting forward and inverse kinematic analyses for model validation. The results suggest the exoskeleton's potential in accommodating standard gait patterns.
Article
Automation & Control Systems
Siji Das, Inam Ullah Nutkani, Carlos Alberto Teixeira
Summary: This article focuses on the development of a series-cascaded microgrid (MG) comprising dispatchable and nondispatchable distributed generators (DGs). A decentralized master-slave control scheme is proposed to regulate voltage and frequency, maintain power balance, and ensure maximum utilization of nondispatchable resources.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Automation & Control Systems
Yana Yang, Xinru Feng, Junpeng Li, Changchun Hua
Summary: This paper addresses a fixed-time cooperative control problem for a class of multiple-master/multiple-slave teleoperation systems with external disturbances and internal uncertainties. The proposed control strategy enhances the system transparency and improves its robustness to disturbances and uncertainties. Simulation results validate the effectiveness of the theoretical results.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Engineering, Biomedical
Christopher Caulcrick, Weiguang Huo, Enrico Franco, Samer Mohammed, Will Hoult, Ravi Vaidyanathan
Summary: The article introduces a model predictive control architecture for lower limb exoskeletons that achieves on-the-fly transitions between different assistance modes and maps key assistance modes based on human involvement. Three modes are utilized and electromyography signals are used to predict human torque.
IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS
(2021)
Article
Chemistry, Analytical
Wei Zhou, Shuxiang Guo, Jin Guo, Fanxu Meng, Zhengyang Chen
Summary: The study focuses on ensuring displacement tracking accuracy in a robot-assisted vascular interventional surgery system using the active disturbance rejection control (ADRC) method. Comparative evaluation experiments show that the ADRC method outperforms the incremental PID method. Calibration experiments demonstrate that the maximum tracking error using the ADRC method is 0.87 mm, effectively ensuring surgical safety in a master-slave robotic system.
Article
Automation & Control Systems
Zipeng Liang, Sideng Hu, Zhao Li, Mustafa Tahir
Summary: This article researches a master-slave motor drive system based on dual stator winding structure to improve the torque performance limited by low carrier ratio operation. It injects high-frequency harmonic current through auxiliary windings to compensate for torque ripple and dynamic issues. The control method aimed at depressing torque ripple and load disturbance is proposed and merged with vector control strategy. Loss analysis shows a 30% reduction in total loss can be achieved under the same torque ripple.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)