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This paper derives analytic guidelines to tune the popular Position-Force bilateral controller and improve its performance by incorporating available knowledge on the bounds of the environment impedance. The proposed guidelines can prove especially useful in the domain of telesurgery where a need exists for well-understood bilateral teleoperation(More)
PURPOSE Advances in technology and computing play an increasingly important role in the evolution of modern surgical techniques and paradigms. This article reviews the current role of machine learning (ML) techniques in the context of surgery with a focus on surgical robotics (SR). Also, we provide a perspective on the future possibilities for enhancing the(More)
This paper discusses variable-scale bilateral control for micro teleoperation. A method is proposed to synthesize robust variable-scale controllers that guarantee system stability and realize robust performance in contact with any arbitrary, but passive, operator and environment. The proposed method is based on the formulation as a robust output feedback(More)
This article introduces a set of novel haptic guidance algorithms intended to provide intuitive and reliable assistance for electric wheelchair navigation through narrow or crowded spaces. The proposed schemes take hereto the non-holonomic nature and a detailed geometry of the wheelchair into consideration. The methods encode the environment as a set of(More)
—This paper presents the research objectives and current state of the semi-autonomous navigation components that are being developed in the FP7 project RADHAR (www.radhar.eu). RADHAR proposes a framework to fuse the inherently uncertain information from both environment perception and a wheelchair driver's steering signals by estimating the trajectory the(More)
In this article we present a new theorem that reduces the stability problem of teleoperators from a structured singular value problem to a maximum singular value problem. A control scheme realizing an ideal response for fixed scaled teleoperation is proposed and its stability is proven analytically. Next, the ideal control scheme is extended to control(More)
Navigating an electrical wheelchair can be very challenging due to its large size and limited maneuverability. Additionally, target users often suffer from cognitive or physical disabilities, which interfere with safe navigation. Therefore, a robotic wheelchair that helps to drive can prove invaluable. Such a wheelchair shares the control with its human(More)
This paper describes the design of a new telepresence vision system developed to realize a higher immersive feeling for telemanipulation tasks. A new measure of 'permissible visual errors' was defined. Making use of this new measure, a minimal vision system is designed, containing only the strictly necessary DOF's (degrees of freedom) while keeping the(More)