Nonlinear soft tissue mechanics based on polytopic Tensor Product modeling

Árpád Takács, Tamás Haidegger, Péter Galambos, József Kuti, I. Rudas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Achieving reliable force control is one of the main design goals of robotic teleoperation. It is essential to grant safe and stable performance of these systems, regarding HMI control, even under major disturbing conditions such as time delay or model parameter uncertainties. This paper discusses the systematic derivation of polytopic qLPV model from the nonlinear dynamics of typical soft tissues of the human body based on recent experimental results. The derivation is based on the Tensor Product (TP) Model Transformation. The presented method is a crucial step in laying the foundations of adequate force control in telesurgery. The proposed approach could form the basis of LMI-based controller design.

Original languageEnglish
Title of host publicationSAMI 2016 - IEEE 14th International Symposium on Applied Machine Intelligence and Informatics - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages211-215
Number of pages5
ISBN (Print)9781467387408
DOIs
Publication statusPublished - Mar 1 2016
EventIEEE 14th International Symposium on Applied Machine Intelligence and Informatics, SAMI 2016 - Herl'any, Slovakia
Duration: Jan 21 2016Jan 23 2016

Other

OtherIEEE 14th International Symposium on Applied Machine Intelligence and Informatics, SAMI 2016
CountrySlovakia
CityHerl'any
Period1/21/161/23/16

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Keywords

  • qLPV modeling
  • soft tissue modeling
  • telesurgery control
  • TP Model Transformation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Information Systems

Cite this

Takács, Á., Haidegger, T., Galambos, P., Kuti, J., & Rudas, I. (2016). Nonlinear soft tissue mechanics based on polytopic Tensor Product modeling. In SAMI 2016 - IEEE 14th International Symposium on Applied Machine Intelligence and Informatics - Proceedings (pp. 211-215). [7423009] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SAMI.2016.7423009