Human-robot interaction for orthopedic surgical robots based on fuzzy variable admittance control

Xidian Chen; Zhigang Chen; Jingyi Zhao

doi:10.1117/12.3036603

13 July 2024 Human-robot interaction for orthopedic surgical robots based on fuzzy variable admittance control

Xidian Chen, Zhigang Chen, Jingyi Zhao

Proceedings Volume 13208, Third International Conference on Biomedical and Intelligent Systems (IC-BIS 2024); 132082R (2024) https://doi.org/10.1117/12.3036603
Event: 3rd International Conference on Biomedical and Intelligent Systems (IC-BIS 2024), 2024, Nanchang, China

Abstract

Keeping the balance of flexibility and stability is difficult in orthopedic surgery when the doctor and the robot operate together. This paper gives a fuzzy theory-based variable admittance control method to solve this question. For the fuzzy controller, the robot's traction force and current velocity are inputs, the damping parameters are the output, calculation rules are the fuzzy rules through expert experience, the fuzzy controller can get different damping parameters according to the doctor’s operating intention, different damping parameters represent different desired speed of the robot. The stability of the robot is characterized by the change of acceleration at the end of the arm during the dragging process, and the flexibility of the robot is characterized by the amount of traction force exerted by the doctor on the end of the arm. A 7- DOF robotic arm experimental platform was built, and the dragging experiment was carried out. The experimental results show that the stability of the fuzzy-based variable-admittance controller is improved by 54.5% over the fixed-admittance controller for the same flexibility. Under the optimal variation range of damping parameters, the fuzzy-based variable admittance-controlled robot has a maximum speed of 0.047 m/s, a maximum traction force of 9.43 N, and a maximum trajectory deviation of 1.74 mm during human-robot collaboration. These improvements effectively enhance the speed and precision of human-robot collaboration in orthopedic surgery.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xidian Chen, Zhigang Chen, and Jingyi Zhao "Human-robot interaction for orthopedic surgical robots based on fuzzy variable admittance control", Proc. SPIE 13208, Third International Conference on Biomedical and Intelligent Systems (IC-BIS 2024), 132082R (13 July 2024); https://doi.org/10.1117/12.3036603

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
10 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Robots

Robotics

Surgery

Control systems

Compliance

Fuzzy logic

Device simulation

Show All Keywords

Keywords/Phrases

Search In:

Publication Years