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2006 American Control Conference
This paper presents two teleoperation control schemes developed in the context of percutaneous procedures in interventional radiology. The teleoperation task is characterized by a non linear interaction with the environment. The whole force feedback teleoperation structure is modeled to derive a practical, stable and transparent force feedback. The proposed control approach is based on the adaptation of standard force feedback teleoperation controllers. Position-position and forcepositiondoi:10.1109/acc.2006.1657212 fatcat:d4utaliduvh6hjjnruhnbmzumy