Dual-Rate Force-Image Control with Model-Based Orientation Limits for Robotic Ultrasound
Read the original on Hugging Face Trending Papers →The paper presents a dual‑rate controller for robotic ultrasound that limits probe rotation speed to keep contact force within safe bounds. By deriving a closed‑form orientation‑rate limit that accounts for contact stiffness, force‑loop gains, and disturbance rejection, the authors implement a timestamp‑based delay reconstruction and joint‑torque force estimation. Experiments on a gelatin phantom show that the rate‑limited controller reduces first‑second RMS force error by 0.40 N, while a fixed rate cap near the predicted ceiling offers similar force performance but faster convergence.
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