Dual-Rate Force-Image Control with Model-Based Orientation Limits for Robotic Ultrasound
Robotic ultrasound couples a high-rate contact-force loop with slower, delayed image feedback, so image-guided ultrasound probe rotation can perturb contact force before the resulting image response is observed. We derive a closed-form orientation-rate limit that bounds the modeled rotation-induced estimated-force excursion over a finite horizon while accounting for disturbance rejection by the fast force loop. The limit depends on local contact stiffness, force-loop gains, a conservative rotation-to-force gain bound, the excursion budget, and the prediction horizon. We implement this model in a dual-rate controller with timestamp-based delay reconstruction and joint-torque-based force es...
| Authors | Tyler Foster, Qiang Zhang, A B M Tahidul Haque et al. |
|---|---|
| Primary category | cs.RO |
| Published | 5 October 2026 |
| Last updated at source | 5 October 2026 |
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