首页|Fudan University Researcher Describes Recent Advances in Robotics (Force Tracking Control Method for Robotic Ultrasound Scanning System under Soft Uncertain Environment)
Fudan University Researcher Describes Recent Advances in Robotics (Force Tracking Control Method for Robotic Ultrasound Scanning System under Soft Uncertain Environment)
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2024 FEB 27 (NewsRx) – By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – New study results on robotics have been published. According to news reporting out of Shanghai, People’s Republic of China, by NewsRx editors, research stated, “Robotic ultrasound scanning has excellent potential to reduce physician workload, obtain higher-quality imaging, and reduce costs.” Financial supporters for this research include National Key Research And Development Program of China. The news journalists obtained a quote from the research from Fudan University: “However, the tradi- tional admittance control strategy for robotics cannot meet the high-precision force control requirements for robots, which are critical for improving image quality and ensuring patient safety. In this study, an integral adaptive admittance control strategy is proposed for contact force control between an ultrasound probe and human skin to enhance the accuracy of force tracking. First, a robotic ultrasound scanning system is proposed, and the system’s overall workflow is introduced. Second, an adaptive admittance control strategy is designed to estimate the uncertain environmental information online, and the estimated parameters are used to modify the reference trajectory. On the basis of ensuring the stability of the system, an integral controller is then introduced to improve the steady-state response. Subsequently, the stability of the proposed strategy is analysed.”
Fudan UniversityShanghaiPeople’s Republic of ChinaAsiaEmerging TechnologiesMachine LearningRoboticsRobots
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