CONTROL SCHEME WITHOUT FORCE SENSORS FOR LOAD SENSING IN TELEMANIPULATION SYSTEMS WITH FORCE-FEEDBACK

Transcription

1 Mateuz SAKÓW, Krzyztof MARCHELEK, Arkadiuz PARUS, Karol MIĄDLICKI Departent of Mechanical Engineering and Mechatronic, Wet Poeranian Univerity of Technology, Szczecin, Journal of Machine Contruction and Maintenance PROBLEMY EKSPLOATACJI QUARTERLY ISSN /2017 (106) p CONTROL SCHEME WITHOUT FORCE SENSORS FOR LOAD SENSING IN TELEMANIPULATION SYSTEMS WITH FORCE-FEEDBACK Key word: Teleoperation, force-feedback, invere odelling, robotic, reote control. Abtract: The paper preent a novel approach to the control deign of bilateral teleoperation yte with force-feedback dedicated only for weight ening. The proble tateent, analyi of related paper up to date, and the cope of the tudy are preented. The new deign of a control unit for a ater-lave yte with force-feedback wa baed on an invere odel. The odel wa applied to ubtract a value of force in the force-feedback counication channel that the yte ight generate during free-otion. A ubtantial part of the paper i focued on the developent of a atheatical odel for the invetigated control chee. The paper preent the odelling procedure of the experiental etup and the odel ued in the tudy. Two experient are decribed to deontrate the control unit of the ater-lave yte with force-feedback. The paper contain concluion regarding to the control and the experiental etup. Bezenorowy cheat terowania dedykowany do wyczuwania ładunku w yteach teleanipulacyjnych z iłowy przężenie zwrotny Słowa kluczowe: zdalna operacja, iłowe przężenie zwrotne, odwrotne odelowanie, robotyka, zdalne terowanie. Strezczenie: W artykule przedtawiono nowe podejście do projektowania terowania dwutronnych yteów obutronnego działania ze przężenie iłowy zwrotny, przeznaczony wyłącznie do wykrywania obciążenia. W artykule zotał zaprezentowany opi probleu, analiza dotychczaowych oiągnięć badawczych oraz zakre badania. Nowy projekt jednotki terującej dla yteu Mater-Slave ze przężenie iłowy zwrotny oparty zotał na odelu odwrotny. Model zotał użyty do odejowania wartości iły w kanale kounikacyjny przężenia zwrotnego, który jet generowany przez yte podcza ruchu wobodnego. Znaczna część pracy koncentruje ię na opracowaniu odelu ateatycznego obejującego zjawika wytępujące w badany cheacie kontroli. W pracy przedtawiono wnioki dotyczące yteu kontroli oraz oówiono procedurę odelowania konfiguracji ekperyentalnej oraz odel zatoowany w układzie terowania. Opiane ą dwa ekperyenty, aby zadeontrować jednotkę terującą yteu ater-lave ze przężenie iłowy zwrotny. W pracy przedtawiono również wnioki dotyczące wyników ekperyentalnych. Introduction The reearcher attept to enure the afe operation of variou achine have led to the developent of ater-lave control yte with force-feedback. The application of ater-lave yte are widepread, including perforing tak in environent hotile to an, containated ite, in the depth of ocean and ea, radioactive interior of nuclear power plant, and even other application like edical rehabilitation. Mot of ater-lave yte are unilateral [11, 12, 17, 23, 25, 30, 31], i.e. a device that i being controlled, which i the lave ubyte, hould behave exactly a the device that control it, which i the ater ubyte. However, a reearch continued, it wa noticed that the operator that interact with the ater ubyte/anipulator hould be able to feel the haptic effect of the environent on the lave ubyte ide. The proble poed ignificant challenge in it practical application due to large ditance and the inevitable tie delay [1 5, 9, 10, 13, 14, 16 18, 22 27, 33, 39, 40]. Thi pecific branch of robotic face any challenge that have been conducted by reearcher all over the world for any year. The ain proble concern the counication channel, and it i a tranport tie delay that i inhibiting their counication. The proble i particularly pronounced

2 22 Journal of Machine Contruction and Maintenance PROBLEMY EKSPLOATACJI 3/2017 while ending inforation over large ditance. Another challenge i the tability of uch yte, given known or unknown delay in the counication channel. So far, the enor-le bilateral teleoperation doain of cience otly belong to piezoelectric crytal. Piezoelectric crytal can work at the ae tie a actuator, body, and a force enor, epecially, when developing device fro a large group of ingle crytal. Yuuke Ihikiriyaa and T. Morita in 2010, publihed a paper about the elf-ening control ethod of piezoelectric actuator that copenate for the hyterei characteritic by uing the linear relationhip between the perittivity change and the piezoelectric diplaceent [7]. Alo in 2010, Micky Rakotondrabe focued hi reearch on the dynaic elf-ening of the otion of piezoelectric actuator [20]. The propoed eaureent technique wa ubequently ued for a cloed-loop control. Aiing to obtain a elf-ening chee that etiate the tranient and teady-tate ode of the diplaceent, the author extended a previou tatic elfening chee by adding a dynaic part. Again in 2011, Micky Rakotondrabe developed a new icro-gripper dedicated to icroanipulation and icro-aebly tak [19]. Baed on a new actuator, called a theropiezoelectric actuator, the icro-gripper provided highrange and high-poitioning reolution. Finally, Micky Rakotondrabe continued hi tudie and in 2015, and he preented hi work about a elf-ening technique uing an actuator a a enor at the ae tie [24, 32]. Thi wa poible for ot actuator with a phyically reverible principle, uch a piezoelectric aterial. So far, the ain preented control chee for bilateral teleoperation yte with force-feedback have oe defect. Thee defect required the ue a large nuber of enor ediating between the environent and the bodie of the lave anipulator, epecially in rotary joint. A ituation in which the environent affect one degree of freedo in accordance with that degree of freedo i relatively iple by uing a ingle enor. However, where the deign of the anipulator depend on any degree of freedo, and ove in the threedienional pace, the ue of a ingle or ultiple enor could be conidered a expenive, or not adequate for the proper operation of uch a yte. Large enor-le and elf-ening appliance are rare, even in cientific literature. There are only couple of paper that addre the proble of invere odelling ued in elf-ening control unit of bilateral teleoperator. Thi work and paper [6, 15, 22, 23, 25, 28, 29, 36, 37] addre thi proble. The firt paper [37] preent a ethod for the ipedance control of a pneuatic linear actuator for tak involving contact interaction. The preented ethod take advantage of the natural copliance of pneuatic actuator. The central notion of the ethod i that, that by departing fro a tiff actuation yte, low-bandwidth acceleration eaureent can be ued in lieu of high-bandwidth force eaureent. The econd paper [32] preent teleoperated inially invaive urgery yte eaureent and diplay of a ene of force to the operator. In thi paper, a ater-lave yte for laparocopic urgery i propoed, which can provide force-feedback to the urgeon without uing force enor. Pneuatic cylinder were ued a the actuator of the anipulator to achieve thi. Both paper are baed on the ae control ethodology, which i the ipedance control. In [37], control ethodology contained an inner loop to control the preure on two ide of a pneuatic cylinder, while an outer loop enforce an ipedance relationhip between external force and otion and coand deired preure to the inner loop. The inner loop enforce the natural copliance of the pneuatic actuator by controlling both the u and difference of the preure on both ide of the pneuatic actuator. In [32], a bilateral dynaic control yte wa deigned uing a neural network for the acquiition of the invere dynaic. The obtained invere dynaic wa ued a a feed-forward controller and to etiate the external force fro the differential preure of the cylinder. In our reearch, we deigned a control chee for a ater-lave yte with force-feedback. The difference between enor ethod i thu far that, in the cae of the propoed control chee, there are no enor ediating between the anipulator body and the environent, relative to paper [6, 15, 28, 29, 36, 37]. The ae thing can be noticed in elf-ening and piezoceraic icroanipulator ued for icroanipulation an in ipedance control ethod [7, 8, 19 21, 34, 35, 38]. The only enor ued in whole yte are poition encoder and preure enor. The whole anipulator body i conidered a a perfectly rigid body. In thi paper, the operator need to feel the anipulator load, but alo a haptic effect of a contact i required. Contact between the object of the environent wa realized in the way that the yte will puh back the operator, in the ituation with an unovable object. Additionally, the paper preent a pneuatic anipulator that i an introduction to the work on the crane car, which i uch bigger then device in the preented literature. In thi project, the operator needed to feel the crane load, but the feeling of a haptic contact wa alo required. The introduction to work on uch bigger device ean the conideration of diadvantage like long hydraulic pipe, which are alo included in the preented tet-tand. The proble of high friction value and any other proble which will occur during further work have to be overcoe during preliinary tet. Alo in thi paper, part of ipedance control wa ued. Thi part i an invere odel of the anipulator tructure correponding to the anipulator operation without any environental ipact on the lave ubyte. Baed on thi fact, it i poible to obtain relatively accurate inforation about the environental ipact on the pecific DOF of the lave anipulator. Thi iportant feature eliinate the need of uing a enor (uceptible

3 Journal of Machine Contruction and Maintenance PROBLEMY EKSPLOATACJI 3/ coponent) between the body of the anipulator and the environent, or between the actuator and the anipulator body. An iportant feature of thi approach on the deign of the control yte i that the value of the ipact of the environent i tranitted to a pecific ater anipulator degree of freedo, a a repone fro the equivalent DOF in the lave anipulator, but without uing geoetrical relationhip reulting fro the contruction of the anipulator. The difference between ipedance control [32, 37] in thi yte i relatively iple. The control unit i not controlling the preure inide an actuator chaber. Meaured preure i only being ubtracted by the etiated preure, and the etiated preure i calculated by the invere odel of lave ubyte. 1. Self-ening control chee for teleoperation with perfectly rigid bodie The preented enor-le control chee for bilateral teleoperation conit of two ubyte - the ater ubyte and the lave ubyte. Both ubyte, the Mater (a) and the Slave (b), are conidered a iple rigid object decribed by their inertia, and they are preented in Fig. 1. Mater ubyte otion depend on three force applied to the body of Mater anipulator. The firt i the gravity, decribed a G = M g, where g i the acceleration of gravity and M i the a of the body. The econd force i the force applied by the operator F h, to the body of the Mater anipulator. The lat force applied to the body of Mater anipulator i F e, which i tranferred in counication channel fro lave ubyte. For theoretical analyi tranittance of ater ubyte actuator, the reiting operator otion i not conidered. Furtherore, in the cae of theoretical analyi, the invere odel repreent an idealized object, and there are no noie conidered in the control chee. During analyi, the lave ubyte i a duplicate of the ater ubyte under condition of kineatic, dienion, and a. Thi ubyte alo ove in the ae environent a the ater ubyte. The lave anipulator i decribed by it a M, gravity force G, poition x, control force F (theoretically including Slave actuator) that i generated by the actuator, and the environental ipact by force F e. The tranfer function B i that decribe the dynaic of both anipulator can be preented a Equation (1): B i = 1 M+ h ( ) i e (1) where i index, index for ater ubyte, index for lave ubyte, Laplace operator, M i a. 2. Teleanipulation control chee Standard teleanipulation yte uing force enor can be repreented a a block diagra a in Fig. 2. Fig. 2. Block diagra of tandard enor ethod Fig. 1. Graphical preentation of odel: ater ubyte (a), the lave ubyte (b) Thee anipulator bodie ove in an environent decribed by the diipative eleent h e. The daper repreent, for exaple, a iplified centre of air and any other type of otion reitance. The bodie of the anipulator ove without friction between the, and the global coordinate yte. Mater ubyte act a a otion canner, which end inforation about it own poition x to the lave anipulator. In Fig. 2, the yte ene the environental force ipact by the force enor and end the value of force back to the Mater anipulator in the counication channel F e. In the preented work, the yte do not eaure environental force ipact, but it etiate it value baed on the control ignal of the lave controller and the current Slave anipulator poition. The odified tructure of the teleanipulation yte i preented in Fig. 3.

4 24 Journal of Machine Contruction and Maintenance PROBLEMY EKSPLOATACJI 3/2017 Fig. 3. Block diagra of the preented ethod with the force-feedback etiation block In Fig. 3, the yte ha an additional block. The etiation block calculate the force of environental ipact baed on the force value coputed by the odel of the lave ubyte. The force-feedback etiation block ubtract the eaured control ignal of the drive fro what i etiated by the odel in free otion. Thi eaured force could be a hydraulic preure, a voltage or a preented in thi paper, a hydraulic valve current. The odified yte i decribed in detail in Fig. 4. The priary proble of ethod, where force enor and rotary joint are being ued, i that the control unit need a large nuber of force enor placed on the anipulator ar. Thi feature i crucial to deliver the correct value of environental torque ipact in each rotary joint. In thi work, the ethod copute the value of environental force ipact on the lave anipulator to the operator, which i eaured in the drive track in each joint of the Slave anipulator independently. The preented yte require a any enor of current, voltage, or preure, a there are dienion of freedo included in the Slave anipulator tructure. Rotary or linear joint do not benefit fro the preented ethod of the etiation of environental force on each joint in the force-feedback counication channel. A a reult, the yte, baed on the preented ethod of etiation, the force-feedback channel will end to the Mater anipulator a zero value of force during free otion of Slave anipulator. Fig. 4. Block diagra of the yte in detail that wa ued for the analyi 3. Theoretical yte analyi Firt characteritic tranittance, which decribe Slave ide of the teleanipulation yte, i a tranittance without the ipact of gravity force and environental force on the Slave anipulator Fig. 4. The gravity force and the environental force are decribed by Equation (2): G = 0; F e = 0 (2) To invetigate the effectivene of the preented ethod, it i required to find the lave ubyte cloedloop and the invere odel tranittance by reducing the lave ubyte tranittance (Fig. 4) to a iple tranfer function. The firt tranfer function decribe the relation of two ignal x, which i the poition of Mater, end to Slave, and the x which i the poition of Slave. The tranittance x / x i preented a Equation (3): x ( ) K x ( ) = ( ) M+ h K ( ) + ( ) (3) e

5 Journal of Machine Contruction and Maintenance PROBLEMY EKSPLOATACJI 3/ Equation (3) decribe the cloed-loop yte of the Slave anipulator, including the tranfer function of the poition controller K(). The controller tranfer function i unknown for the tranittance analyi, becaue it i poible to ue any tructure of controller, e.g., iple proportional P, PI, or even PID. Different controller tructure would not change the reult of the preented ethod. In a continuation of tranittance analyi, the lave ubyte cloed-loop tranfer function i deterined a (3). The Second tranittance, including the invere odel of force-feedback etiation block and the cloedloop of lave ubyte, i defined by a ratio of the etiated value of the force generated by the drive during the free otion of the Slave anipulator naed F and the Mater poition x, and tranittance F /x i preented by Equation (4): F x ( ) ( ) = ( )( + ) K M he ( M+ h ) + K( ) e (4) Equation (4) decribe one of two characteritic tranfer function, which i the function that i reponible for reducing the value of force in a force-feedback counication channel. Force in the counication channel of the anipulator yte uing rotary joint without additional force-feedback etiation block end to the operator and ater ubyte a value of force ued to achieve the deired configuration of the Slave anipulator. Thi force will depend on actual poition of each joint and it acceleration, including the inertia of individual bodie. Thi feature appear only during free-otion condition. The next tep require finding the tranittance of cloed-loop Slave yte, which ene the control ignal F fro the controller block K() output. Theoretically, thi ignal i jut the control force applied to the body of the Slave anipulator. In practice, the control ignal on the Slave ide could be a voltage, a current, or a pneuatic preure a preented in the third part of thi paper. To find thi tranfer function, it i required to find a olution of two equation preented a follow: F = K( ) e( ) F, x = ( M + he) (5) where e() i a lave ubyte poition error, decribed a e() = x () x (). Looking for a olution of the equation (5) by a ratio of F ()/x (), we obtain Equation (6): F ( ) x ( ) = ( )( + ) K M he ( M+ h ) + K( ) (6) e exactly the ae a tranittance (4). Thi ean that the lave ubyte, during free-otion in a reote environent, calculate zero value in the force- -feedback counication channel. Thi i confired by the tranittance difference, which i repreented a the force-feedback etiation block in Fig. 4 and by Equation (7): F e F ( ) F = x ( ) ( ) x ( ) = 0 (7) For the operator of a yte, which ue the preented ethod, thi ituation i cofortable, but require a very accurate invere odel of lave ubyte. It i iportant to how that the lave ubyte, which i under influence of the environental force, end to the operator exactly the force of the environental ipact. Of coure, in thi cae, the theoretical analyi i baed on the ideal yte preented in Fig. 4. In the econd part of tranittance analyi (4) and (6), external force are taken into account. Thee force were oitted during the firt analyi to proof that yte in a free-otion ituation calculate the correct value of the etiated force in the Force- -feedback counication channel. Two new equation are obtained (8) and (9), which decribe the lave ubyte in Fig. 4, including external force: F ( ) G x ( ) F( ) G Fe = x ( ) ( )( + ) K M he = ( M+ h ) + K( ) e ( )( + ) (8) K M he ( M+ h ) + K( ) (9) Subtracting Equation (8) and (9), we obtain Equation (10): e F( ) G Fe F( )+ G =0 (10) After iplifying Equation (10), Equation (11) wa obtained: F( ) F( )= Fe (11) where the difference F F ( ) ( ) according to the control chee of Fig. 4, correpond to the ignal of force-feedback counication channel F e, preented a Equation (12): F e = Fe (12)

6 26 Journal of Machine Contruction and Maintenance PROBLEMY EKSPLOATACJI 3/ The experiental tet tand Mechanical feature of a lave and a ater ubyte are copletely identical. The exokeleton ater ubyte wa attached to the operator elbow. The ubyte lave wa ounted on a trong and heavy table. Thu, it wa not neceary to do the calculation of preure in the feedback reulting fro difference in the a and dienion of the ater and the lave. The a of the huan lib wa conidered a negligible. The experiental etup i preented in Fig. 5. Figure 5 preent the anipulator ar with it drive yte, which wa taken into account in the atheatical odel of a preure in chaber. There i a tationary bae plate (1), which i fixed to the table. The bending actuator (5) and it extenion bend the anipulator ar. The traightening actuator (2) and it extenion traighten the anipulator ar (3). The characteritic anipulator ar i the ovable part of the lave ubyte (3). The ar rotate at the articulated writ, where a eauring encoder wa ounted. Fig. 5. Experiental tet-tand Fig. 6. Pneuatic chee of Slave anipulator Mounting pneuatic drive in the preented way wa not accidental. Uing two drive affect the yetry of the piton area which, a it turned out, coniderably iproved the poition tracking ability of the entire ubyte lave. Mot of ignal in the yte are analogue ignal, e.g., the preure eaureent, and dicrete for the encoder and valve. Encoder that were ued to build the tet-tand had a nuber of pule equal to 500 per revolution. The preure gauge ued to eaure preure in the yte had a axiu eaureent value of 10 bar, proportionally ening the preure a 1 to 10 V.

7 Journal of Machine Contruction and Maintenance PROBLEMY EKSPLOATACJI 3/ Fig. 7. Pneuatic chee of Mater anipulator In the lave ubyte, a hown in Fig. 6, there are three pneuatic control ignal V 1, V 2, and SD. The V 1 ignal i the left coil voltage ignal of 5/3 witching valve, V 2 i the right coil voltage ignal of the ae witching valve, and the SD ignal i analogue and control the degree of throttle opening the variable orifice. The preure enor P i placed between the 5/3 Valve and the variable orifice. A it turned out during tet, it i poible to etiate preure in both piton chaber uing a ingle preure enor, with a repect to a pneuatic chee in the Fig. 6. In the cae of the ater ubyte, it wa eay to ue a preure control valve P z that control the air preure on the bai of the et value fro force-feedback counication channel. Then, the preure will only reach the detined piton chaber uing on/off valve, V 4 and V 5 (Fig. 7), and the additional preure enor, P 1 and P 2, were not needed in the control chee. anipulator ar odel. Baed on the anipulator ar, a geoetrical and dynaic odel of the lave and ater ubyte wa built, a hown in Fig. 8. The geoetrical odel of a rotating ar wa dependent on the dienion of actuator. The dienion of each actuator caue oveent of the entire anipulator ar. To build a odel that will behave exactly like the one in Fig. 5 require the ue of geoetrical relationhip aong actuator, bae, and the rotational ar of the anipulator, a hown in Fig Invere odelling of the tet tand Baed on Equation (1) to (12), it i poible to build a odel of a lave ubyte that decribe the dynaic of the yte. During the odelling procedure, it wa obviou that there wa a odel of a geoetrical tructure of the lave ubyte required, which wa actually a nonlinear Gein t G d 2 ( β2() ) 1 in ( β1() t ) c 1 + b ε ( t) Pet ()= t 2 π Ab 2 co γ 2 1 γ 1 2 ( ) Fig. 8. Geoetrical relationhip of anipulator ar The odel preented in Fig. 8 decribe the etiated preure in free otion at the tie doain by Equation (13): ( 4 2 ) 3 (13) Abin

8 28 Journal of Machine Contruction and Maintenance PROBLEMY EKSPLOATACJI 3/2017 where A 1 and A 2 are the area of piton firt and econd actuator, ε(t) i the angular acceleration of the anipulator ar, G 1 and G 2 are the gravity force applied to the body of anipulator. Ret variable are angle and radiue ued to derive Equation (13) ee Fig. 8. A it turned out during tet, a iple geoetric and echanical odel wa not enough to properly etiate preure inide the piton chaber. Thi odel wa incorporated into the tructure of nonlinear autoregreive odel with exogenou input NARX. The nonlinear part of odel NARX wa baed on a binary tree. Thi odel ha etiated the preure relatively well, relative to iple Equation (13). able to ove. The reult of the experient are hown in Fig Experient After the identification wa carried out, the odel of the lave ubyte tet were conducted to verify the operation of the whole yte. The ai of the firt eaureent wa to check how the yte would behave, given no interaction with the environent. The only interaction of the environent, which occur for the nonlinear anipulator ar, i gravity and reitance to otion, and in thi particular cae, the friction and reitance of air urrounding the anipulator. However, even thee coponent data were odelled within the tructure of the NARX odel. Owing to thi, uch a data can be conidered a negligible, when conducting certain run by the lave ubyte of the anipulator, becaue they exert the ae influence both on the real object and on the odel. Diagra of the firt experient are preented in Fig. 9. Fig. 10. Mater-lave yte tet-tand; econd eaureent during contact operation The contact phae can be een in the run preented in Fig. 10 between 3 to 12 econd. The control yte preciely apped the axiu preure of 2 bar. The axiu preure of 2 bar in force feedback i the effective preure, reulting fro uing the control ethod that relie on preure change in the yte. The axiu preure in the yte i 6 bar. However, it i counteracted by the preure of 4 bar, and the whole yte tiffen. The value of 2 bar ean that the yte wa able to tranit adequate inforation to the feedback with a relatively large tie delay of 0.5. It can even be een in Fig. 10. Thi i due to the copreibility of the ediu in the yte, and it i not the fault of the control yte, whoe clocking frequency wa et a 10 khz. Concluion Fig. 9. Mater-lave yte tet-tand; firt eaureent during free otion operation The ai of the econd experient wa to check if the yte would how the axiu preure at the oent when it encounter an object it would not be The paper addree the proble of elf-ening, enor-le bilateral teleoperation. The control unit wa baed on a NARX odel of ubyte Slave. The tet were conducted on a hort ditance of one eter, o that any delay in the counication channel wa negligible. But the width of a pipe delivering air preure between actuator chaber and preure enor affected a delay of around 0.5. The additional difficulty of the ain tak of the tudy wa the fact that the rotating robotic ar wa driven by two linear pneuatic actuator. Two linear pneuatic actuator were ounted in the preented way to overcoe the difference in a cylinder urface. Thi difference caued eriou odelling proble. The actuator were alo ounted o that their characteritic would be trongly nonlinear, i.e. the radial length of the actuator retraction axi to the rotation axi of the ar

9 Journal of Machine Contruction and Maintenance PROBLEMY EKSPLOATACJI 3/ would not be contant but would be dependent on the configuration of the robot ar at a given tie a feature of car crane. An additional challenge wa poed by the pneuatic yte itelf. One diadvantage of pneuatic yte ay be the fact that they are quite difficult to control, when it coe to poition tracking. Thi can be due to high air copreibility, which tranlate into low tiffne of the echanical tructure. For poition tracking, a iple PID controller wa ued that cooperated with a controllable orifice. The controller wa tuned during yte operation. The iple PID controller wa ued, becaue thi paper wa not focued on ability of poition tracking by the yte, but on a proof that the yte i able to etiate the value of force-feedback without a force enor and ipedance control ethod. Acknowledgeent The work wa carried out a part of PBS3/ A6/28/2015. The ue of augented reality, interactive voice yte, and operator interface to control a crane, that wa financed by NCBiR. Reference 1. Ben-Dov D., Salcudean S.E., A force-controlled pneuatic actuator for ue in teleoperation ater, Robotic and Autoation, Proceeding., 1993 IEEE International Conference on, 1993, pp vol Ferrell W.R., Delayed Force Feedback, Huan Factor: The Journal of the Huan Factor and Ergonoic Society, 8 (1966) Guerriero B., Book W., Haptic Feedback Applied to Pneuatic Walking, ASME 2008 Dynaic Syte and Control Conference, Aerican Society of Mechanical Engineer, 2008, pp Hannaford B., Stability and perforance tradeoff in bi-lateral teleanipulation, Robotic and Autoation, Proceeding., 1989 IEEE International Conference on, 1989, pp vol Hatrudi-Zaad K., Salcudean S.E., On the ue of local force feedback for tranparent teleoperation, Robotic and Autoation, Proceeding IEEE International Conference on, 1999, pp vol Hogan N., Ipedance Control: An Approach to Manipulation: Part II Ipleentation, Journal of Dynaic Syte, Meaureent, and Control, 107 (1985) Ihikiriyaa Y., Morita T., Iproveent of elfening piezoelectric actuator control uing perittivity change detection, Journal of Advanced Mechanical Deign, Syte, and Manufacturing, 4 (2010) Khadraoui S., Rakotondrabe M., Lutz P., Interval Modeling and Robut Control of Piezoelectric Microactuator, Control Syte Technology, IEEE Tranaction on, 20 (2012) Ki W.S., Developent of new force reflecting control chee and an application to a teleoperation training iulator, Robotic and Autoation, Proceeding., 1992 IEEE International Conference on, 1992, pp vol Ki W.S., Hannaford B., Fejczy A.K., Forcereflection and hared copliant control in operating teleanipulator with tie delay, Robotic and Autoation, IEEE Tranaction on, 8 (1992) Miądlicki K., Pajor M., Overview of uer interface ued in load lifting device, International Journal of Scientific & Engineering Reearch, 6 (2015) Miądlicki K., Pajor M., Real-tie geture control of a CNC achine tool with the ue Microoft Kinect enor, International Journal of Scientific & Engineering Reearch, 6 (2015) Najdovki Z., Nahavandi S., Fukuda T., Deign, Developent, and Evaluation of a Pinch Grap Haptic Interface, Mechatronic, IEEE/ASME Tranaction on, 19 (2014) Nguyen T., Leavitt J., Jabbari F., Bobrow J.E., Accurate Sliding-Mode Control of Pneuatic Syte Uing Low-Cot Solenoid Valve, Mechatronic, IEEE/ASME Tranaction on, 12 (2007) Ningbo Y., Hollnagel C., Blickentorfer A., Kollia S.S., Riener R., Coparion of MRI-Copatible Mechatronic Syte With Hydrodynaic and Pneuatic Actuation, Mechatronic, IEEE/ASME Tranaction on, 13 (2008) Noritugu T., Pule-width odulated feedback force control of a pneuatically powered robot hand, International Sypoiu of Fluid Control and Meaureent, Tokyo, 1985, pp Pajor M., Miądlicki K., Saków M., KINECT SENSOR IMPLEMENTATION IN FANUC ROBOT MANIPULATION, Archive of echanical technology and autoation, 34 (2014) Poluhin I.G., Takhar A., Patel R.V., Projection- Baed Force-Reflection Algorith With Frequency Separation for Bilateral Teleoperation, Mechatronic, IEEE/ASME Tranaction on, 20 (2015) Rakotondrabe M., Ivan I.A., Developent and Force/ Poition Control of a New Hybrid Thero-Piezoelectric MicroGripper Dedicated to Microanipulation Tak, Autoation Science and Engineering, IEEE Tranaction on, 8 (2011)

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