Bilateral adaptive control of a teleoperation system based on the hunt-crossley dynamic model

The main purpose of teleoperation in medical usage is to provide technical means to perform a desired task in patient' body. It is important to haptic feedback of sensitive and delicate environment to the surgeon hand's to improve task performance. The Kelvin-Voigt (KV) model for environment, due to physical contradiction is not suitable, but the Hunt-Crossley (HC) model is chosen because of its accuracy to distinguish hard and soft tissues. In this research, an adaptive haptic control for a one degree of freedom (DOF) master slave teleoperated device has been proposed. The position and force controller are designed for both master and slave sides. A Lyapunov function design provides a way to guarantee stability in presence of uncertain parameters in master, slave and environment dynamics. Numerical simulations are provided to demonstrate the effectiveness of the proposed controller.