Nonlinear soft tissue mechanics based on polytopic Tensor Product modeling

摘要

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.