A General Huber Function Based Compliant Control Method for the Cooperative Puncture Surgery
Author:
Affiliation:
1. Shanghai Jiao Tong University,The Institute of Forming Technology & Equipment, and The Institute of Medical Robotics,Shanghai,China,200030
Funder
Science and Technology Commission of Shanghai Municipality
Fundamental Research Funds for the Central Universities
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/10354348/10354529/10354810.pdf?arnumber=10354810
Reference16 articles.
1. Safety-enhanced Collaborative Framework for Tele-operated Minimally Invasive Surgery Using a 7-DoF Torque-controlled Robot
2. Iterative Learning-Based Robotic Controller With Prescribed Human-Robot Interaction Force
3. Bilateral Teleoperation With Adaptive Impedance Control for Contact Tasks
4. Dynamic Elbow Flexion Force Estimation Through a Muscle Twitch Model and sEMG in a Fatigue Condition
5. Force estimation in fatigue condition using a muscle-twitch model during isometric finger contraction
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