Simulation and control for telerobots in space medicine

Tamas Haidegger, Levente Kovaacs, Radu Emil Precup, Balaazs Benyo, Zoltan Benyo, Stefan Preitl

Research output: Contribution to journalArticle

57 Citations (Scopus)

Abstract

Human space exploration is continuously advancing despite the current financial difficulties, and the new missions are targeting the Moon and the Mars with more effective human-robot collaborative systems. The continuous development of robotic technology should lead to the advancement of automated technology, including space medicine. Telesurgery has already proved its effectiveness through various telemedi-cine procedures on Earth, and it has the potential to provide medical assistance in space as well. Aeronautical agencies have already conducted numerous experiments and developed various setups to push the boundaries of teleoperation under extreme conditions. Different control schemes have been proposed and tested to facilitate and enhance telepresence and to ensure transparency, sufficient bandwidth and latency-tolerance. This paper focuses on the modeling of a generic telesurgery setup, supported by a cascade control approach. The minimalistic models were tested with linear and PID-fuzzy control options to provide a simple, universal and scalable solution for the challenges of telesurgery over large distances. In our simulations, the control structures were capable of providing good dynamic performance indices and robustness with respect to the gain in the human operator model. This is a promising result towards the support of future teleoperational missions.

Original languageEnglish
Pages (from-to)390-402
Number of pages13
JournalActa Astronautica
Volume81
Issue number1
DOIs
Publication statusPublished - Dec 2012

Keywords

  • Control system
  • Human operator model
  • Robot model
  • Telesurgery
  • Time delay

ASJC Scopus subject areas

  • Aerospace Engineering

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