Haptic Shared Control Framework with Interaction Force Constraint Based on Control Barrier Function for Teleoperation

Haptic Shared Control Framework with Interaction Force Constraint Based on Control Barrier Function for Teleoperation

Current teleoperated robotic systems for retinal surgery cannot effectively control subtle tool-to-tissue interaction forces. This limitation may lead to patient injury caused by the surgeon’s mistakes. To improve the safety of retinal surgery, this paper proposes a haptic shared control framework f...

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Bibliographic Details
Main Authors: Wenlei Qin, Haoran Yi, Zhibin Fan, Jie Zhao
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Sensors
Subjects:
shared control
force constraint
Control Barrier Functions
teleoperation
medical robots and systems
Online Access:https://www.mdpi.com/1424-8220/25/2/405
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