Stabilization for non-linear and non-passive multi-lateral tele-control system and its application to surgical robot

• Project/Area Number: 26630078
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Dynamics/Control
• Research Institution: Toyohashi University of Technology
• Principal Investigator: Miyoshi Takanori 豊橋技術科学大学, 工学(系)研究科(研究院), 准教授 (10345952)
• Co-Investigator(Kenkyū-buntansha): Kawashima Kenji 東京医科歯科大学, 生体材料工学研究所, 教授 (40300553) ; Terashima Kazuhiko 豊橋技術科学大学, 工学研究科, 教授 (60159043)
• Project Period (FY): 2014-04-01 – 2016-03-31
• Project Status: Completed (Fiscal Year 2015)
• Budget Amount: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000); Fiscal Year 2015: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000); Fiscal Year 2014: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
• Keywords: 遠隔制御 / マルチラテラル制御 / 手術支援ロボット / マルチラテラル遠隔制御

Outline of Final Research Achievements

In this project, the stabilization method for tele-control system, which is non-linear, non-passive, and multi-lateral(multipoint-to-multipoint), was studied.
For the point of view of theoretical research, the stabilization theory for non-linear, non-passive, and bi-lateral(one-to-one) system was proved.
For the point of view of applications, the proposed control algorithm was applied to the surgical robot, and it stabilized the system and did not make the position error in spite of any comunication delay and the packet loss.

Research Products

• [Journal Article] Development of Handshake Gadget and Exhibition in Niconico Chokaigi (2015)
  • Author(s): Takanori Miyoshi, Yuki Ueno, Kouki Kawase, Yusaku Matsuda, Yuya Ogawa, Kento Takemori and Kazuhiko Terashima
  • Journal Title: Haptic Interaction Perception, Devices and Applications Volume: 277 Pages: 267-272
  • Peer Reviewed
• [Journal Article] Medical Round Robot－Terapio－ (2014)
  • Author(s): K. Terashima, S. Takenoshita, J. Miura, R. Tasaki, M. Kitazaki, R. Saegusa, T. Miyoshi, N. Uchiyama, S. Sano, J. Satake, R. Ohmura, T. Fukushima, K. Kakihara, H. Kawamura and M. Takahashi
  • Journal Title: Journal of Robotics and Mechatronics Volume: 26(1) Pages: 112-114
  • Peer Reviewed
• [Journal Article] マルチラテラル遠隔制御理論に基づくハプティックネットワークゲームの作成と通信遅延がQoEに及ぼす影響の調査 (2014)
  • Author(s): 三好孝典，前田慶博，森田陽介，石橋豊，寺嶋一彦
  • Journal Title: 日本バーチャルリアリティ学会論文誌 Volume: 19(4) Pages: 559-569
  • Peer Reviewed / Acknowledgement Compliant
• [Presentation] 95.Development of Multilateral Tele-Control Game Using Websocket and Physics Engine (2015)
  • Author(s): Kawase Koki, Miyoshi Takanori, Kazuhiko Terashima
  • Organizer: IEEE/SICE Intl. Symposium on System Integration SII2015
  • Place of Presentation: Nagoya, Japan
  • Year and Date: 2015-12-11
  • Int'l Joint Research
• [Presentation] Stability Analysis via IQC for Multilateral Tele-control and Application to Multi-client/Multi-Coupling Physical Model System (2015)
  • Author(s): Takanori Miyoshi, Takashi Imamura, Kazuhiko Terashima
  • Organizer: 41st Annual Conf. of the IEEE Industrial Electronics Society IECON2015
  • Place of Presentation: Yokohama, Japan
  • Year and Date: 2015-11-09
  • Int'l Joint Research
• [Presentation] xperimental Validation of Stability and Performance for Position-Error-Based Tele-surgery (2015)
  • Author(s): Hongbing Li, Kotaro Tadano, Kenji Kawashima
  • Organizer: IEEE/ASME International Conference on Advanced Intelligent Mechatronics
  • Place of Presentation: Busan, Korea
  • Year and Date: 2015-07-07
  • Int'l Joint Research
• [Presentation] The Recipe to Realize One Billion People's Tug of War (2014)
  • Author(s): Takanori Miyoshi
  • Organizer: The 13th Annual Workshop on Network and Systems Support for Games (NetGames 2014)
  • Place of Presentation: Nagoya
  • Year and Date: 2014-11-09 – 2014-11-12
  • Invited
• [Presentation] A robot-mediated Information guide system (2014)
  • Author(s): Saegusa, R., Mamiya, S., Koiwa, Y., Itokazu, K., Igari, S., Shigematsu, K., Yamashita, T., Sano, S., Fukumura, N., Uchiyama, N., Miyoshi, T., Terashima, K., Miura, J.
  • Organizer: The 2014 IEEE International Conference on Systems, Man and Cybernetics (SMC2014)
  • Place of Presentation: San Diego, USA
  • Year and Date: 2014-10-05 – 2014-10-08
• [Presentation] An Experiments on Improving Tracking Performance in Multilateral Teleoperation Using Wave Filter (2014)
  • Author(s): Yasunori Kawai, Tokio Yoshino, Takanori Miyoshi
  • Organizer: SICE Annual Conference 2014
  • Place of Presentation: Sapporo
  • Year and Date: 2014-09-12 – 2014-09-14
• [Remarks] 高専－技科大間における遠隔制御の研究ネットワーク構築と試験運用・実験
  • URL: http://www.sycon.me.tut.ac.jp/nct_partnership/index.html