An Observer-Based Responsive Variable Impedance Control for Dual-User Haptic Training System
A. Rashvand,R. Heidari,M. Motaharifar,A. Hassani,M.R. Dindarloo,M. J. Ahmadi,K. Hashtrudi-Zaad,M. Tavakoli,H. D. Taghirad,A. Rashvand,R. Heidari,M. Motaharifar,A. Hassani,M.R. Dindarloo,M. J. Ahmadi,K. Hashtrudi-Zaad,M. Tavakoli,H. D. Taghirad
This paper proposes a variable impedance control architecture to facilitate eye surgery training in a dual-user haptic system. In this system, an expert surgeon (the trainer) and a novice surgeon (the trainee) collaborate on a surgical procedure using their own haptic devices. The mechanical impedance parameters of the trainer's haptic device remain constant during the operation, whereas those of ...
