Dynamic Virtual Fixtures Based on Path Following Control
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DOI: 10.1016/j.ifacol.2019.11.817
Abstract: Abstract This paper presents a path following control (PFC) approach to generate guidance virtual fixtures with dynamic constraints (time-varying constraints) for physical human-robot interaction tasks. Using input-output feedback linearization and a parallel transport frame, the… read more here.
Keywords: control; virtual fixtures; following control; dynamic virtual ... See more keywords
Safety Tracking Motion Control Based on Forbidden Virtual Fixtures in Robot Assisted Nasal Surgery
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DOI: 10.1109/access.2018.2861572
Abstract: Traditional nasal surgery requires the doctor’s left hand to carry the endoscope and right hand to complete the surgical operation using unstable images, potentially leading to danger due to mental fatigue, which may greatly prolong… read more here.
Keywords: motion; surgery; nasal surgery; control ... See more keywords
A Virtual Fixtures Control Method of Surgical Robot Based on Human Arm Kinematics Model
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DOI: 10.1109/access.2019.2942319
Abstract: Physical human-robot interaction(pHRI) is the most popular way to ensure the safety in robot surgery. Current research of pHRI in operation room focuses on the inside of the surgical area, which adapts virtual fixtures method… read more here.
Keywords: surgical area; virtual fixtures; robot; safety ... See more keywords
Passive Virtual Fixtures Adaptation in Minimally Invasive Robotic Surgery
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DOI: 10.1109/lra.2018.2849876
Abstract: During robot-aided surgical interventions, the surgeon can be benefitted from the application of virtual fixtures (VFs). Though very effective, this technique is very often not practicable in unstructured surgical environments. In order to comply with… read more here.
Keywords: invasive robotic; passive virtual; minimally invasive; virtual fixtures ... See more keywords