XFEM-based Adaptive Contact Model for Telepresence Systems
An incision is a common process in medical telepresence
applications. When a large distance between the human operator and
the teleoperator is presented, it can lead to a time delay in
communication channel which causes the hand's movement and the
force feedback perception not to synchronize. This research work
proposed an adaptive contact model based on the Extended Finite
Element Method (XFEM). The proposed contact model compensates the
time delay using the real-time dynamic geometry deformation
simulation and the calculation of the corresponding incision force
between the scalpel at the end-effector of the teleoperator and the
remote environment. An adaptive parameter identification algorithm
is also developed allowing online model verification during the
actual incision. The experimental results demonstrate a stability
improvement during the incision with the experimental telepresence
system.
was born in Tokyo Japan. He studied B.Sc. mechanical engineering at Chulalongkorn University, Thailand and M.Sc. mechatronics at Leibniz Universität Hannover, Germany. As a researcher, he joined Institute of Applied Mechanics, Technische Universität München, Munich Germany, where he also received his Ph.D. in robotic and mechatronics in 2011.
