Teleoperation and Haptic Systems

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• ÇAĞATAY BAŞDOĞAN

Haptics is a valuable tool in minimally invasive surgical simulation and training. We discuss important aspects of haptics in MISST, such as haptic rendering and haptic recording and playback. Minimally invasive surgery has revolutionized many surgical procedures over the last few decades. MIS is performed using a sma…

• ÇAĞATAY BAŞDOĞAN

We develop a computer-based training system to simulate laparoscopic procedures in virtual environments for medical training. The major hardware components of our system include a computer monitor to display visual interactions between 3D virtual models of organs and instruments together with a pair of force feedback…

• ÇAĞATAY BAŞDOĞAN

Computer haptics, an emerging field of research that is analogous to computer graphics, is concerned with the generation and rendering of haptic virtual objects. In this paper, we propose an efficient haptic rendering method for displaying the feel of 3-D polyhedral objects in virtual environments (VEs). Using this me…

• ÇAĞATAY BAŞDOĞAN

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This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using disturbance observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the design of a DOb, then the position error asymptotically goes to zero in regulation…

• REGAİP BARKAN UĞURLU

In this paper, a new dynamic model for continuum robot manipulators is derived. The dynamic model is developed based on the geometric model of extensible continuum robot manipulators with no torsional effects. The development presented in this paper is an extension of the dynamic model proposed by Mochiyama and Suzuki…

In the near future, humans and robots are expected to perform collaborative tasks involving physical interaction in various environments, such as homes, hospitals, and factories. Robots are good at precision, strength, and repetition, while humans are better at cognitive tasks. The concept, known as physical human-rob…

• YUSUF AYDIN

In the near future, humans and robots are expected to perform collaborative tasks involving physical interaction in various environments, such as homes, hospitals, and factories. Robots are good at precision, strength, and repetition, while humans are better at cognitive tasks. The concept, known as physical human-rob…

• VOLKAN PATOĞLU

In the near future, humans and robots are expected to perform collaborative tasks involving physical interaction in various environments, such as homes, hospitals, and factories. Robots are good at precision, strength, and repetition, while humans are better at cognitive tasks. The concept, known as physical human-rob…

• VOLKAN PATOĞLU

In the near future, humans and robots are expected to perform collaborative tasks involving physical interaction in various environments, such as homes, hospitals, and factories. Robots are good at precision, strength, and repetition, while humans are better at cognitive tasks. The concept, known as physical human-rob…

• ÇAĞATAY BAŞDOĞAN