Next Article in Journal
Active Control of Regenerative Brake for Electric Vehicles
Previous Article in Journal
A Novel Framework for a Systematic Integration of Pneumatic-Muscle-Actuator-Driven Joints into Robotic Systems Via a Torque Control Interface
Open AccessArticle

Application of a Nonlinear Hammerstein-Wiener Estimator in the Development and Control of a Magnetorheological Fluid Haptic Device for Robotic Bone Biopsy

1
Department of Mechanical and Industrial Engineering, University of Toronto, 5 King’s College Road, Room 106, Toronto, ON M5S3G8, Canada
2
Division of Neurosurgery, The Hospital for Sick Children, 555 University Avenue, Room 1504, Toronto, ON M5G1X8, Canada
3
Institute of Biomaterials and Biomedical Engineering, University of Toronto, Rosebrugh Building, 164 College Street, Room 407, Toronto, ON M5S3G9, Canada
*
Author to whom correspondence should be addressed.
Actuators 2018, 7(4), 83; https://doi.org/10.3390/act7040083
Received: 16 August 2018 / Revised: 13 November 2018 / Accepted: 21 November 2018 / Published: 1 December 2018
A force generator module (FGM) based on magnetorheological fluid (MRF) was developed to provide force-feedback information for applications in tele-robotic bone biopsy procedures. The FGM is capable of rapidly re-producing a wide range of forces that are common in bone biopsy applications. As a result of the nonlinear nature of MRF, developing robust controllers for these mechanisms can be challenging. In this paper, we present a case study motivated by robotic bone biopsy. We use a non-linear Hammerstein-Wiener (H-W) estimator to address this challenge. The case is presented through three studies. First, an experiment to develop design constraints is presented and describes biopsy force measurements for various animal tissues. Required output forces were found to range between <1 N and <50 N. A second study outlines the design of the FGM and presents the experimental characterization of the hysteretic behavior of the MRF. This data is then used as estimators and validators to develop the nonlinear Hammerstein-Wiener (H-W) model of the MRF. Validation experiments found that the H-W model is capable of predicting the behavior of the MRF device with 95% accuracy and can eliminate hysteresis in a closed-loop control system. The third study demonstrates the FGM used in a 1-DOF haptic controller in a simulated robotic bone-biopsy. The H-W control tracked the input signal while compensating for magnetic hysteresis to achieve optimal performance. In conclusion, the MRF-based device can be used in surgical robotic operations that require a high range of force measurements. View Full-Text
Keywords: magnetorheological fluid based; nonlinear Hammerstein-Wiener model; hysteresis; control technique; force-feedback; bone biopsy magnetorheological fluid based; nonlinear Hammerstein-Wiener model; hysteresis; control technique; force-feedback; bone biopsy
Show Figures

Figure 1

MDPI and ACS Style

Shokrollahi, E.; Goldenberg, A.A.; Drake, J.M.; Eastwood, K.W.; Kang, M. Application of a Nonlinear Hammerstein-Wiener Estimator in the Development and Control of a Magnetorheological Fluid Haptic Device for Robotic Bone Biopsy. Actuators 2018, 7, 83.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop