Tremor Estimation and Removal in Robot-Assisted Surgery Using Lie Groups and EKF
Sign Up to like & getrecommendations! Published in 2019 at "Robotica"
DOI: 10.1017/s0263574719000341
Abstract: Summary This paper aims at estimating the tremor torque using extended Kalman filter (EKF) applied to a two-link 3-DOF robot with nonlinear dynamics modelled using Lie-group and Lie-algebra theory. Later, it is generalised to d… read more here.
Keywords: using lie; tremor; torque; tremor estimation ... See more keywords