Preliminary Experiments in Cooperative Human/Robert Force Control for Robot Assisted Microsurgical Manipulation
نویسندگان
چکیده
1 Kumar is with the Department of Computer Science, email: [email protected]. Berkelman is with the the Department of Radiology, the Wilmer Eye Institute, and the Department of Mechanical Engineering, email: [email protected]. Gupta is with the Department of Biomedical Engineering, email: [email protected]. Barnes and Jensen are with the Wilmer Eye Institute, email: [email protected], [email protected]. Whitcomb is with the Department of Mechanical Engineering, email: [email protected]. Taylor is with the Department of Computer Science, email: [email protected]. The Authors gratefully acknowledge the support of the National Science Foundation under grant IIS9801684, the Engineering Research Center grant EEC9731478, and in cooperation with the Whitaker Foundation under grant ST32HL07712. Abstract
منابع مشابه
Preliminary experiments in robot/human cooperative microinjection
This paper reports preliminary experiments with a cooperative robot system to augment single cell manipulation tasks. The JHU “Steady-Hand” robot configuration for cell manipulation is reported. Stable force control laws for the “Steady Hand” are revisited. Preliminary experiments validating stable insertion of a micropipette in a mouse embryo are detailed along with formulation of vision based...
متن کاملPreliminary Experiments in RobotMuman Cooperative Microinjection
This paper reports preliminary experiments with a cooperative robot system to augment single cell manipulation tasks. The JHU "Steady-Hand" robot confguration for cell manipulation is reported. Stable force control laws for the "Steady Hand" 'are revisited. Preliminary experiments validating stable insertion of a micropipeffe in a mouse embryo are detailed along with formulation of vision based...
متن کاملManipulation Control of a Flexible Space Free Flying Robot Using Fuzzy Tuning Approach
Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...
متن کاملA miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation
This paper reports the development of a new miniature force sensor designed to measure contact forces at the tip of a microsurgical instrument in three dimensions, and its application to scaled force feedback using a cooperatively manipulated microsurgical assistant robot. The principal features of the sensor are its small size of 12.5 mm in diameter and 15 mm in height, a novel configuration o...
متن کاملFlexible Foot/Ankle Based on PKM with Force/Torque Sensor for Humanoid Robot
This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...
متن کامل