Topic of Research Seminar: Sensor-less Force Feedback and Intelligent Control in Teleoperated Systems: Applications in Nuclear Dismantling and Eye Surgery Robotics
Abstract: This seminar highlights my research contributions in the field of teleoperation and intelligent control for robotic systems used in hazardous and high-precision environments. During my doctoral studies, I developed a sliding mode control-based bilateral teleoperation system for a 3-DOF master-hydraulic slave manipulator, designed for nuclear power plant dismantling. This system enabled operators to remotely control manipulators with high stability and precision, utilizing vision-based tracking and sensor-less reaction force estimation to eliminate the need for physical force/torque sensors.
My postdoctoral research at Chonnam National University has focused on a force-sensible eye surgery robot. I implemented Sliding Perturbation Observers (SMCSPO, SFSPO) to estimate interaction forces without physical sensors and developed force feedback control to enhance the surgeon’s tactile perception during microsurgery. My work also includes reinforcement learning-based tuning to improve force estimation accuracy and ensure tissue-safe manipulation through adaptive control of end-effector stiffness.
My research vision is to integrate observer-based estimation, learning-enhanced control, and sensor-less force feedback into a unified framework for next-generation teleoperated robotic systems. These systems will be capable of operating robustly in dynamic, uncertain environments ranging from radioactive decommissioning sites to microscale surgical tasks while ensuring safety, precision, and enhanced human machine interaction.
Name of Speaker: Karam Dad Kallu
Professional Rank of Speaker: Assistant Professor
University Email of Speaker: [email protected]
Affiliation of Speaker: School of Mechanical and Manufacturing Engineering (SMME-NUST)
Date and Venue: 6th Aug 2025 from 1100hrs to 1200hrs, Seminar Hall, School of Mechanical and Manufacturing Engineering (SMME), NUST Islamabad