Interaction Modeling and Force Control

[1]  Philippe Poignet,et al.  Towards teleoperated needle insertion with haptic feedback controller , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Brian L. Davies,et al.  The hands-on orthopaedic robot "acrobot": Early clinical trials of total knee replacement surgery , 2003, IEEE Trans. Robotics Autom..

[3]  J. Salisbury,et al.  Active stiffness control of a manipulator in cartesian coordinates , 1980, 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[4]  Ian D. Walker,et al.  Geometric stability in force control , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[5]  Tobias Ortmaier,et al.  MARGE Project: Design, Modeling, and Control of Assistive Devices for Minimally Invasive Surgery , 2004, MICCAI.

[6]  Philippe Poignet,et al.  Stability and transparency analysis of a haptic feedback controller for medical applications , 2007, 2007 46th IEEE Conference on Decision and Control.

[7]  K. Huper,et al.  A joint space formulation for compliant motion control of robot manipulators , 2005, IEEE International Conference Mechatronics and Automation, 2005.

[8]  Daniel E. Whitney,et al.  Historical Perspective and State of the Art in Robot Force Control , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[9]  Stefano Stramigioli,et al.  Contact impedance estimation for robotic systems , 2005, IEEE Trans. Robotics.

[10]  Peter Kazanzides,et al.  Force sensing and control for a surgical robot , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[11]  Philippe Cinquin,et al.  LER: the light endoscope robot , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[12]  Luc Joly Commande hybride position/force pour la teleoperation : une approche basee sur des analogies mecaniques , 1997 .

[13]  Bernard Bayle,et al.  In Vivo Model Estimation and Haptic Characterization of Needle Insertions , 2007, Int. J. Robotics Res..

[14]  Allison M. Okamura,et al.  Virtual fixture architectures for telemanipulation , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[15]  Philippe Poignet,et al.  Dermarob: A safe robot for reconstructive surgery , 2003, IEEE Trans. Robotics Autom..

[16]  Etienne Dombre,et al.  Hippocrate: a safe robot arm for medical applications with force feedback , 1999, Medical Image Anal..

[17]  B R Thomadsen,et al.  Observations on rotating needle insertions using a brachytherapy robot , 2007, Physics in medicine and biology.

[18]  Vincent Hayward,et al.  Single state elastoplastic friction models , 2002, IEEE Trans. Autom. Control..

[19]  Brian L. Davies,et al.  A robotic system for blood sampling , 2000, IEEE Transactions on Information Technology in Biomedicine.

[20]  Pierre E. Dupont,et al.  Mechanics of Dynamic Needle Insertion into a Biological Material , 2010, IEEE Transactions on Biomedical Engineering.

[21]  Matthew T. Mason,et al.  Compliance and Force Control for Computer Controlled Manipulators , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[22]  Oussama Khatib,et al.  Real-time adaptive control for haptic telemanipulation with Kalman active observers , 2006, IEEE Transactions on Robotics.

[23]  Allison M. Okamura,et al.  Force modeling for needle insertion into soft tissue , 2004, IEEE Transactions on Biomedical Engineering.

[24]  Vincent Hayward,et al.  Dual-channel Haptic Synthesis of Viscoelastic Tissue Properties using Programmable Eddy Current Brakes , 2009, Int. J. Robotics Res..

[25]  Philippe Poignet,et al.  A hybrid position/force control approach for identification of deformation models of skin and underlying tissues , 2005, IEEE Transactions on Biomedical Engineering.

[26]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part I—Theory , 1985 .

[27]  Septimiu E. Salcudean,et al.  Needle insertion modeling and simulation , 2003, IEEE Trans. Robotics Autom..

[28]  John M. Hollerbach,et al.  Dynamic Stability Issues in Force Control of Manipulators , 1987, 1987 American Control Conference.

[29]  Stephane Cotin,et al.  A hybrid elastic model for real-time cutting, deformations, and force feedback for surgery training and simulation , 2000, The Visual Computer.

[30]  Ping-Lang Yen,et al.  A Telemanipulator system as an assistant and training tool for penetrating soft tissue , 1996 .

[31]  K. H. Hunt,et al.  Coefficient of Restitution Interpreted as Damping in Vibroimpact , 1975 .

[32]  Bernard Bayle,et al.  Needle insertions modeling: Identifiability and limitations , 2007, Biomed. Signal Process. Control..

[33]  Guillaume Morel,et al.  Physiological Motion Compensation in Robotized Surgery using Force Feedback Control , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[34]  Christophe Rosenberger,et al.  A tele-operated mobile ultrasound scanner using a light-weight robot , 2005, IEEE Transactions on Information Technology in Biomedicine.

[35]  Peter N. Brett,et al.  Schemes for the identification of tissue types and boundaries at the tool point for surgical needles , 2000, IEEE Transactions on Information Technology in Biomedicine.

[36]  Philippe Poignet,et al.  Compensation of physiological motion using linear predictive force control , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[37]  Alexandre Krupa,et al.  Achieving high precision laparoscopic manipulation through adaptive force control , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[38]  Russell H. Taylor,et al.  Preliminary experiments in cooperative human/robot force control for robot assisted microsurgical manipulation , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[39]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[40]  Tae-Sang Chung,et al.  An inherent stability problem in Cartesian compliance and an alternative structure of compliance control , 1991, IEEE Trans. Robotics Autom..

[41]  Ulrich Rembold,et al.  Robot controlled osteotomy in craniofacial surgery , 1999 .

[42]  Luc Soler,et al.  IN VIVO STUDY OF FORCES DURING NEEDLE INSERTIONS , 2004 .

[43]  Hendrik Van Brussel,et al.  Compliant Robot Motion II. A Control Approach Based on External Control Loops , 1988, Int. J. Robotics Res..

[44]  Hong Zhang Kinematic stability of robot manipulators under force control , 1989, Proceedings, 1989 International Conference on Robotics and Automation.