Novel ideas and innovations related to this area are presented and reported in detail, and examples of applications in medical technology are given.

The book bs by introducing force sensing, and modelling of contacting objects. In then moves steadily through a variety of topics, including:

disturbance observer-based force estimation;

force-based supervisory control;

stabilization systems;

controller design; and

control of tube insertion procedures.

This book will be of interest to researchers, eeers and students interested in force control, particularly those with a focus on medical applications of these ideas.

Advances in Industrial Control reports and encourages the transfer of technology in control eeering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.



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