Force controller tuning for a master-slave system with proximity based haptic feedback

Riccardo Antonello, Roberto Oboe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper deals with a master-slave robotic system with haptic feedback that has been recently proposed by the authors for supporting the clinician during the execution of immerse ultrasound examinations. The focus is on providing additional details on how to tune the force feedback controller, in order to guarantee stability of the overall control system. After arguing the stability conditions by exploiting an approach based on the small gain theorem, a controller tuning procedure based on the identification of the human impedance parameters is proposed.

Original languageEnglish
Title of host publicationProceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2774-2779
Number of pages6
ISBN (Print)9781479940325
DOIs
Publication statusPublished - Feb 24 2014
Event40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 - Dallas, United States
Duration: Oct 30 2014Nov 1 2014

Other

Other40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014
CountryUnited States
CityDallas
Period10/30/1411/1/14

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Antonello, R., & Oboe, R. (2014). Force controller tuning for a master-slave system with proximity based haptic feedback. In Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society (pp. 2774-2779). [7048900] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2014.7048900