Force sensor free teleoperated robotic surgery : Interaction force estimation for realistic force feedback without force sensors

摘要

List of papers. The papers are removed from the thesis due to copyright restrictions.Paper I E. Naerum, J. Cornellà and O.J. Elle.Wavelet networks for estimation of coupled friction in robotic manipulatorsProc. IEEE Conference on Robotics and Automation, Pasadena, CA, USA, May 2008, pp. 862-867.Paper II E. Naerum, J. Cornellà and O.J. Elle. Contact force estimation for backdrivable robotic manipulators with coupled frictionIEEE Conference on Intelligent Robots and Systems, Nice, France, Sep. 2008, pp. 3021-3027.Paper III E. Naerum, H.H. King and B. Hannaford.Robustness of the Unscented Kalman Filter for state and parameter estimation in an elastic transmissionProc. Robotics: Science and Systems, Seattle, WA, USA, Jun. 2009.Paper IV E. Naerum and B. Hannaford.Global transparency analysis of the Lawrence teleoperator architectureProc. IEEE Conference on Robotics and Automation, Kobe, Japan, May 2009, pp. 4344-4349.Paper V E. Naerum, O.J. Elle and B. Hannaford.The effect of interaction force estimation on performance in bilateral teleoperationIEEE Transactions on Haptics, 2012 Vol 5, pp. 160-171.Paper VI E. Naerum, B. Hannaford and O.J. Elle.Force estimation and sensitivity optimization in teleoperated robotic surgeryIEEE Transactions on Biomedical Engineering, submitted for publication.Paper VII E. Naerum, B. Hannaford and O.J. Elle.Force sensor free bilateral teleoperation for robotic surgery - feasibility evaluation through human perception testProc. The Hamlyn Symposium on Medical Robotics, London, United Kingdom, May 2010, pp. 25-26.