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Force and Position Control in Humans - The Role of Augmented Feedback

Force and Position Control in Humans - The Role of Augmented Feedback

Published on: June 19, 2016

Adaptive variable impedance position/force tracking control of fracture reduction robot.

Gongliang Zheng¹, Jingtao Lei¹, Lei Hu²

¹School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|October 27, 2022

Summary

This study introduces an adaptive control strategy for robot-assisted fracture reduction, enhancing safety and precision. The new method improves human-robot interaction during complex orthopedic procedures.

Keywords:

adaptive variable stiffness femoral shaft fracture impedance control reduction robot

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Area of Science:

Robotics in Surgery
Orthopedic Surgery
Biomechanics

Background:

Musculoskeletal tissues present unique rigid-compliance coupling challenges in robot-assisted fracture reduction.
Enhancing interactive compliance and safety is crucial for effective robot-assisted orthopedic procedures.

Purpose of the Study:

To develop and validate an advanced control strategy for robot-assisted fracture reduction.
To improve the safety and coordination of the reduction robot during surgical interventions.

Main Methods:

An adaptive variable impedance position/force tracking control strategy with friction compensation was proposed.
The Stribeck friction force model was derived for branch chain electric cylinders to optimize motion control.
Robot stiffness was adaptively adjusted based on end-effector contact forces.

Main Results:

Successful completion of fracture reduction experiments.
Demonstrated ability of the adaptive variable impedance control strategy to achieve precise position and force tracking.
Validation of the proposed strategy in a simulated fracture reduction scenario.

Conclusions:

The developed safety control strategy enhances coordination and compliance in human-robot interaction.
The strategy improves the overall safety and effectiveness of robot-assisted fracture reduction surgery.
This approach offers a significant advancement in robotic orthopedic surgery.