Adaptive variable impedance position/force tracking control of fracture reduction robot

被引：7
作者：
Zheng, Gongliang [1 ]
Lei, Jingtao [1 ]
Hu, Lei [2 ]
Zhang, Lihai [3 ]
机构：
[1] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai, Peoples R China
[2] Beihang Univ, Sch Mech Engn & Automat, Beijing, Peoples R China
[3] Chinese Peoples Liberat Army Gen Hosp, Dept Orthoped, Beijing, Peoples R China
来源：
INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY | 2023年 / 19卷 / 02期
基金：
国家重点研发计划;
关键词：
adaptive variable stiffness; femoral shaft fracture; impedance control; reduction robot; ADMITTANCE CONTROL; SENSORLESS;
D O I：
10.1002/rcs.2469
中图分类号：
R61 [外科手术学];
学科分类号：
摘要：
Background The operation object of robot-assisted fracture reduction surgery is the musculoskeletal tissue with rigid-compliance coupling characteristics. It is necessary to improve the interactive compliance and safety between the reduction robot and the musculoskeletal tissue. Method An adaptive variable impedance position/force tracking control strategy based on friction compensation is proposed. The stiffness of the reduction robot can be adaptively adjusted according to the contact force between the end-effector and the environment. The Stribeck friction force model of the branch chain electric cylinder is derived to improve the motion control performance. Results The fracture reduction experiment is completed. The experimental results show that the adaptive variable impedance position/force control strategy can realize position and force tracking in fracture reduction. Conclusion A safety control strategy is proposed and applied to robot-assisted fracture reduction surgery, which improves the coordination and compliance of the human-robot interaction between the reduction robot and the patient.
引用
收藏
页数：13
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