Steady-hand teleoperation with virtual fixtures

Jake J. Abbott, Gregory D. Hager, Allison M. Okamura

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

Abstract

We present a method for implementing "steady-hand control" on teleoperators where the master device is of the impedance type. Typical steady-hand systems are admittance controlled cooperative robots that can implement very high damping. Such systems are ideal for implementing guidance virtual fixtures, which are constraints in software that assist a user in moving a tool along preferred paths. Our steady-hand teleoperation method implements a type of admittance control law on an impedance-type master, but requires no force sensor. Combined with guidance virtual fixtures, the system results in a slave device that is precisely constrained to preferred paths. Experimental results demonstrate the desirable behavior of the system. This research is applicable to impedance-type telemanipulation systems, particularly those used in robot-assisted minimally invasive surgery.

Original languageEnglish (US)
Title of host publicationProceedings - RO-MAN 2003
Subtitle of host publicationThe 12th IEEE International Workshop on Robot and Human Interactive Communication
Pages145-151
Number of pages7
DOIs
StatePublished - Dec 1 2003
Event12th IEEE International Workshop on Robot and Human Interactive Communication, RO-MAN 2003 - Millbrae, CA, United States
Duration: Oct 31 2003Nov 2 2003

Publication series

NameProceedings - IEEE International Workshop on Robot and Human Interactive Communication

Other

Other12th IEEE International Workshop on Robot and Human Interactive Communication, RO-MAN 2003
CountryUnited States
CityMillbrae, CA
Period10/31/0311/2/03

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction

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  • Cite this

    Abbott, J. J., Hager, G. D., & Okamura, A. M. (2003). Steady-hand teleoperation with virtual fixtures. In Proceedings - RO-MAN 2003: The 12th IEEE International Workshop on Robot and Human Interactive Communication (pp. 145-151). [1251824] (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication). https://doi.org/10.1109/ROMAN.2003.1251824