Nonlinear soft tissue mechanics based on polytopic Tensor Product modeling

Takács, Árpád and Haidegger, Tamás and Galambos, Péter and Kuti, József and Rudas, Imre (2016) Nonlinear soft tissue mechanics based on polytopic Tensor Product modeling. In: 2016 IEEE 14th International Symposium on Applied Machine Intelligence and Informatics (SAMI).


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Achieving reliable force control is one of the main design goals of robotic teleoperation. It is essential to grant safe and stable performance of these systems, regarding HMI control, even under major disturbing conditions such as time delay or model parameter uncertainties. This paper discusses the systematic derivation of polytopic qLPV model from the nonlinear dynamics of typical soft tissues of the human body based on recent experimental results. The derivation is based on the Tensor Product (TP) Model Transformation. The presented method is a crucial step in laying the foundations of adequate force control in telesurgery. The proposed approach could form the basis of LMI-based controller design.

Item Type: Conference or Workshop Item (Paper)
Subjects: Q Science / természettudomány > Q1 Science (General) / természettudomány általában
T Technology / alkalmazott, műszaki tudományok > T2 Technology (General) / műszaki tudományok általában
Depositing User: Dr. Tamas Haidegger
Date Deposited: 28 Oct 2016 17:47
Last Modified: 28 Oct 2016 17:47

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