{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:23:10Z","timestamp":1754155390617,"version":"3.41.2"},"reference-count":29,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2018,1,15]],"date-time":"2018-01-15T00:00:00Z","timestamp":1515974400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,1,15]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this paper is to propose a control algorithm to improve the backdrivability performance of minimally invasive surgical robotic arms, so that precise manual manipulations of robotic arms can be performed in the preoperative operation.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>First, the flexible-joint dynamic model of the 3-degree of freedom remote center motion (RCM) mechanisms of minimally invasive surgery (MIS) robot is derived and its dynamic parameters and friction parameters are identified. Next, the angular velocities and angular accelerations of joints are estimated in real time by the designed Kalman filter. Finally, a control algorithm based on Kalman filter is proposed to enhance the backdrivability of RCM mechanisms by compensating for the internally generated gravitational, frictional and inertial resistances experienced during the positioning and orientating.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The parameter identification for RCM mechanisms can be experimentally evaluated from comparison between the measured torques and the reconstructed torques. The accuracy and convergence of the real-time estimation of angular velocity and acceleration of the joint by the designed Kalman filter can be verified from corresponding simulation experiments. Manual adjustment experiments and animal experiments validate the effectiveness of the proposed backdrivability control algorithm.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Research limitations\/implications<\/jats:title>\n<jats:p>The backdrivability control algorithm presented in this paper is a universal method to enhance the manual operation performance of robots, which can be used not only in the medical robot preoperative manual manipulation but also in robot haptic interaction, industrial robot direct teaching and active rehabilitation training of rehabilitation robot and so on.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>Compared with other backdrivability design methods, the proposed algorithm achieves good backdrivability for RCM mechanisms without using force sensors and accelerometers. In addition, this paper presents a new static friction compensation approach for a joint moving with very low velocity.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-02-2017-0031","type":"journal-article","created":{"date-parts":[[2017,12,13]],"date-time":"2017-12-13T07:19:19Z","timestamp":1513149559000},"page":"127-140","source":"Crossref","is-referenced-by-count":7,"title":["Improving backdrivability in preoperative manual manipulability of minimally invasive surgery robot"],"prefix":"10.1108","volume":"45","author":[{"given":"Shuizhong","family":"Zou","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bo","family":"Pan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yili","family":"Fu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuixiang","family":"Guo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"issue":"1","key":"key2020093023502314900_ref001","first-page":"5807","article-title":"Task control with remote center of motion constraint for minimally invasive robotic surgery","volume":"11","year":"2013","journal-title":"Robotics and Automation"},{"issue":"11","key":"key2020093023502314900_ref002","doi-asserted-by":"crossref","first-page":"1225","DOI":"10.1177\/027836499801701107","article-title":"Estimation of angular velocity and acceleration from shaft-encoder measurements","volume":"17","year":"1998","journal-title":"The International Journal of Robotics Research"},{"issue":"5","key":"key2020093023502314900_ref003","doi-asserted-by":"crossref","first-page":"508","DOI":"10.1049\/ip-cta:19951970","article-title":"Redesign of robust controllers for rigid-link flexible-joint robotic manipulators actuated with harmonic drive gearing","volume":"142","year":"1995","journal-title":"IEE Proceedings-Control Theory and Applications"},{"year":"2015","first-page":"14","article-title":"Static balancing and inertia compensation of a master manipulator for tele-operated surgical robot application","key":"key2020093023502314900_ref004"},{"issue":"3","key":"key2020093023502314900_ref005","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1177\/027836499101000301","article-title":"Adaptive friction compensation in robot manipulators: low velocities","volume":"10","year":"1991","journal-title":"The International Journal of Robotics Research"},{"issue":"6","key":"key2020093023502314900_ref006","doi-asserted-by":"crossref","first-page":"508","DOI":"10.1108\/IR-03-2015-0055","article-title":"State of the art in robots used in minimally invasive surgeries: Natural Orifice Transluminal Surgery (NOTES) as a particular case","volume":"42","year":"2015","journal-title":"Industrial Robot"},{"issue":"2","key":"key2020093023502314900_ref007","doi-asserted-by":"crossref","first-page":"233","DOI":"10.1177\/0278364907084261","article-title":"Design, control and performance of RiceWrist: a force feedback wrist exoskeleton for rehabilitation and training","volume":"27","year":"2008","journal-title":"International Journal of Robotics Research"},{"issue":"9","key":"key2020093023502314900_ref008","doi-asserted-by":"crossref","first-page":"524","DOI":"10.1016\/j.mechatronics.2007.05.006","article-title":"Angular acceleration estimation and feedback control: An experimental investigation","volume":"17","year":"2007","journal-title":"Mechatronics"},{"issue":"11","key":"key2020093023502314900_ref009","doi-asserted-by":"crossref","first-page":"730","DOI":"10.1109\/TSMC.1980.4308393","article-title":"A recursive Lagrangian formulation of maniputator dynamics and a comparative study of dynamics formulation complexity","volume":"10","year":"1980","journal-title":"Systems, Man and Cybernetics, IEEE Transactions on"},{"key":"key2020093023502314900_ref010","first-page":"1210","article-title":"Adaptive identification and control for manipulators without using joint accelerations","volume-title":"IEEE Conference on Robotics and Automation","year":"1987"},{"year":"2006","first-page":"1","article-title":"A robot actuator development with high backdrivability, Robotics, Automation and Mechatronics","key":"key2020093023502314900_ref011"},{"key":"key2020093023502314900_ref012","first-page":"1577","article-title":"Development of backdrivable hydraulic joint mechanism for knee joint of humanoid robots","volume":"1","year":"2009","journal-title":"Robotics and Automation"},{"key":"key2020093023502314900_ref013","first-page":"095","article-title":"Backdrivable mechanism for artificial finger","volume-title":"World Congress","year":"2011"},{"year":"2009","first-page":"1589","article-title":"The DLR MiroSurge - 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