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Bilateral controllers for teleoperated percutaneous interventions : evaluation and improvements
2006
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 forceposition
doi:10.1109/acc.2006.1657212
fatcat:d4utaliduvh6hjjnruhnbmzumy