Adaptive variable impedance position/force tracking control of fracture reduction robot.
Int J Med Robot
; 19(2): e2469, 2023 Apr.
Article
em En
| MEDLINE
| ID: mdl-36302164
ABSTRACT
BACKGROUND:
The operation object of robot-assisted fracture reduction surgery is the musculoskeletal tissue with rigid-compliance coupling characteristics. It is necessary to improve the interactive compliance and safety between the reduction robot and the musculoskeletal tissue.METHOD:
An adaptive variable impedance position/force tracking control strategy based on friction compensation is proposed. The stiffness of the reduction robot can be adaptively adjusted according to the contact force between the end-effector and the environment. The Stribeck friction force model of the branch chain electric cylinder is derived to improve the motion control performance.RESULTS:
The fracture reduction experiment is completed. The experimental results show that the adaptive variable impedance position/force control strategy can realize position and force tracking in fracture reduction.CONCLUSION:
A safety control strategy is proposed and applied to robot-assisted fracture reduction surgery, which improves the coordination and compliance of the human-robot interaction between the reduction robot and the patient.Palavras-chave
Texto completo:
1
Base de dados:
MEDLINE
Assunto principal:
Robótica
/
Procedimentos Cirúrgicos Robóticos
Idioma:
En
Ano de publicação:
2023
Tipo de documento:
Article