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This paper discusses robotic telemanipulation with Kalman active observers and online stiffness estimation. Operational space techniques, feedback linearization, discrete state space methods, augmented states, and stochastic design are used to control a robotic manipulator with a haptic device. Stiffness estimation only based on force data (measured,(More)
Minimally invasive surgery (MIS) offers considerable advantages for patients, lowering infection risks, and reducing trauma and convalescence times. Dedicated surgical robots significantly improve surgeon's skills especially for tasks requiring high precision such as lead placement and suturing. However, these robotic setups do not allow yet beating heart(More)
The paper describes the formulation of multi-contact compliant motion control. It extends our previous work to non-rigid environments. The contact forces are controlled through active observers (AOB), based on the Kalman filter theory. Noise characteristics enter in the control design and are estimated on-line. Experimental results are provided.
This paper presents a novel teleoperation scheme to control a PUMA robotic manipulator with a Phantom haptic device. Using local force control at the slave robot, contact with soft and hard surfaces is attained with high performance. The control design inserts a virtual spring between the master and slave control systems to generate the desired forces. The(More)
This work describes a data fusion architecture for robotic assembly tasks based on human sensory-motor skills. These skills are transferred to the robot through geometric and dynamic perception signals. Artificial neural networks are used in the learning process. The data fusion paradigm is addressed. It consists of two independent modules for optimal(More)