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Using an Improved Output Feedback MPC Approach for Developing a Haptic Virtual Training System

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Abstract

Haptic training simulators generally consist of three major components, namely a human operator, a haptic interface, and a virtual environment. Appropriate dynamic modeling of each of these components can have far-reaching implications for the whole system's performance improvement in terms of transparency, the analogy to the real environment, and stability. In this paper, we developed a virtual-based haptic training simulator for Endoscopic Sinus Surgery by doing a dynamic characterization of the phenomenological sinus tissue fracture in the virtual environment, using an input-constrained linear parametric variable model. A parallel robot manipulator equipped with a calibrated force sensor is employed as a haptic interface. A lumped five-parameter single-degree-of-freedom mass-stiffness-damping impedance model is assigned to the operator’s arm dynamic. A robust online output feedback quasi-min–max model predictive control framework is proposed to stabilize the system during the switching between the piecewise linear dynamics of the virtual environment. The simulations and the experimental results demonstrate the effectiveness of the proposed control algorithm in terms of robustness and convergence to the desired impedance quantities.

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Acknowledgements

We thank the Djavad Mowafaghian Research Center for Intelligent NeoruRehabilitation Technologies of the Sharif University of Technology and the Bio-Inspired System Design Laboratory of the Biomedical Engineering Department at Amirkabir University of Technology (Tehran Polytechnic) for supporting this research. In addition, we are grateful to Ehsan Abdollahi for helping us to prepare the experiment set-up system.

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This research did not receive any specific grant from funding agencies in the public, commercial, or not-for-profit sectors.

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Authors and Affiliations

  1. Biomedical Engineering Department, Amirkabir University of Technology (Tehran Polytechnic), No. 350, Hafez Ave, Valiasr Square, Tehran, 1591634311, Islamic Republic of Iran

    Soroush Sadeghnejad

  2. School of Mechanical Engineering, Sharif University of Technology, Azadi Ave., Tehran, 1458889694, Islamic Republic of Iran

    Farshad Khadivar, Mojtaba Esfandiari, Golchehr Amirkhani, Hamed Moradi, Farzam Farahmand & Gholamreza Vossoughi

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  1. Soroush Sadeghnejad
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Sadeghnejad, S., Khadivar, F., Esfandiari, M. et al. Using an Improved Output Feedback MPC Approach for Developing a Haptic Virtual Training System. J Optim Theory Appl 198, 745–766 (2023). https://doi.org/10.1007/s10957-023-02241-0

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