A Robust Controller with Online Authority Transformation for Dual User Haptic Training System

In this study, a force reflection control structure is developed for the surgery training haptic system. In the surgery training haptic system, the surgical operation is cooperatively performed by a trainer and a trainee. The participation of each surgeon in the operation is established through their own haptic consoles. Although the operation is primarily performed by the trainee, the trainer is able to interfere into the procedure in case of observing any deviation on the part of trainee and correct the probable mistakes. To transform the task authority between the trainer and the trainee, the hand force of the trainer is reflected to the hands of the trainee. Utilizing the haptic system, the position of the trainee is transformed to the hands of the trainer, thus the trainer has necessary information regarding the current position of the surgical operation. Stabilizing controllers are developed for each haptic console. The stability of the closed loop system is analyzed using the Input-to-State Stability (ISS) approach. Our simulation results confirmed the appropriate performance of the proposed structure.