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An Energy-Based Approach for n-d.o.f. Passive Dual-User Haptic Training Systems

Published online by Cambridge University Press:  30 August 2019

Fei Liu ,
Angel Ricardo Licona ,
Arnaud Lelevé Open the ORCID record for Arnaud Lelevé [Opens in a new window] ,
Damien Eberard ,
Minh Tu Pham  and
Tanneguy Redarce
Fei Liu
Affiliation:
Center for Micro-BioRobotics IIT@SSSA, Italy
Angel Ricardo Licona
Affiliation:
Ampère (CNRS UMR 5005), Université de Lyon, INSA Lyon, F69621 Villeurbanne, France
Arnaud Lelevé*
Affiliation:
Center for Micro-BioRobotics IIT@SSSA, Italy
Damien Eberard
Affiliation:
Ampère (CNRS UMR 5005), Université de Lyon, INSA Lyon, F69621 Villeurbanne, France
Minh Tu Pham
Affiliation:
Ampère (CNRS UMR 5005), Université de Lyon, INSA Lyon, F69621 Villeurbanne, France
Tanneguy Redarce
Affiliation:
Ampère (CNRS UMR 5005), Université de Lyon, INSA Lyon, F69621 Villeurbanne, France
*
*Corresponding author. E-mail: arnaud.leleve@insa-lyon.fr
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Summary

This paper introduces a dual-user training system whose design is based on an energetic approach. This kind of system is useful for supervised hands-on training where a trainer interacts with a trainee through two haptic devices, in order to practice on a manual task performed on a virtual or teleoperated robot (e.g., for an Minimally Invasive Surgery (MIS) task in a surgical context). This paper details the proof of stability of an Energy Shared Control (ESC) architecture we previously introduced for one degree of freedom (d.o.f.) devices. An extension to multiple degrees of freedom is proposed, along with an enhanced version of the Adaptive Authority Adjustment function. Experiments are carried out with 3 d.o.f. haptic devices in free motion as well as in contact contexts in order to show the relevance of this architecture.

Keywords

Computer simulationDual-user systemHands-on trainingHaptic interfacesPort-Hamiltonian frameworkShared control
Type
Articles
Information
Robotica , Volume 38 , Issue 7 , July 2020 , pp. 1155 - 1175
Copyright
© Cambridge University Press 2019

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