Related Experiment Video
Updated: Mar 27, 2026
06:31
Force and Position Control in Humans - The Role of Augmented Feedback
Published on: June 19, 2016
8.3K
Toward hybrid force/position control for the Cerberus epicardial robot
Summary
This study introduces Cerberus, a robotic system for minimally invasive gene therapy delivery to the heart. Adding force feedback significantly improved robotic positioning accuracy for cardiac interventions.
Area of Science:
- Biomedical Engineering
- Robotics
- Cardiovascular Interventions
Background:
- Gene therapy shows promise for congestive heart failure but lacks effective delivery methods.
- Current robotic systems for cardiac interventions rely solely on position feedback, limiting safety and performance.
- The Cerberus robot was developed for minimally invasive cardiac procedures.
Purpose of the Study:
- To enhance the Cerberus robotic system with force feedback capabilities.
- To improve the safety and performance of robotic cardiac interventions.
- To develop a hybrid force/position control scheme for the Cerberus robot.
Main Methods:
- Modeling the statics of the Cerberus parallel wire robot system.
- Developing a tension distribution optimization technique.
- Modifying existing position control schemes to a hybrid force/position controller.
Main Results:
- The Cerberus system was successfully enhanced with force feedback.
- A hybrid force/position control scheme was implemented.
- Positioning error was reduced by 38% compared to position-only control.
Conclusions:
- Hybrid force/position control enhances the performance of the Cerberus robot.
- The developed system offers improved safety and accuracy for minimally invasive cardiac interventions.
- This advancement paves the way for more effective gene therapy delivery for heart failure.
Related Concept Videos
01:26PD Controller: Design
711
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
711
01:20Motor Unit Stimulation
4.7K
When the neuron of a motor unit fires an action potential, it triggers a series of events, leading to a twitch contraction in the muscle fibers. The process of excitation-contraction coupling is crucial in relaying the action potential to the muscle fibers.
The latent period of contraction marks the onset of excitation-contraction coupling, when the action potential propagates across the sarcolemma, preparing the muscle fibers for contraction. As the fibers enter the contraction phase, the...
The latent period of contraction marks the onset of excitation-contraction coupling, when the action potential propagates across the sarcolemma, preparing the muscle fibers for contraction. As the fibers enter the contraction phase, the...
4.7K
01:24PI Controller: Design
1.5K
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
1.5K
01:17Open and closed-loop control systems
2.0K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
2.0K
01:15Torque Free Motion
909
The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
909