Force and Position Control of Mechatronic Systems: Design and Applications in Medical Devices

When a medical device makes contact with tissue or another object, precise movement is only part of the challenge: the applied force must also be controlled. Force and Position Control of Mechatronic Systems examines the theory and design approaches behind that coordinated control, connecting engineering methods with applications in medical technology.

Across nine chapters, Tong Heng Lee, Wenyu Liang, Clarence W. de Silva, and Kok Kiong Tan move from sensing and contact modelling to control strategies and device-focused examples. The result is a specialized engineering reference for readers who want to understand how force and motion control methods are developed and applied.

From contact models to control design

The opening material introduces force sensing, models of contacting objects, and the general control approaches used when a system must manage both its motion and its interaction with the environment. This foundation frames the more specific estimation and controller designs that follow.

Force estimation and feedback

Topics include disturbance observer-based force estimation without force sensors, vision-assisted force feedback, and methods for detecting force-sensor failures. Together, these subjects examine how a system can estimate, monitor, and respond to interaction forces in demanding applications.

Medical-device applications in focus

The later chapters explore examples including force-based supervisory control for assisted surgery, contact-force control on a soft membrane, fast tube insertion, and robust impedance control for a constrained piezoelectric actuator-based end-effector. These applications give the control concepts a concrete engineering context.

A technical reference for control and mechatronics

This book is intended for researchers, engineers, and students with an interest in force control and mechatronic systems, particularly in medical technology. Its mix of control methods, system design, and application-oriented chapters makes it relevant to readers studying how reliable device interaction is engineered.