Human-micromanipulator cooperation using a variable admittance controller
|
摘要
<正>Dear editor,Micro-scale operations, such as microsurgery [1]and micro-devices assembly [2], have been gaining importance among different industries. However,it is challenging to execute these operations owing to the accuracy requirements of the operation which are close to the limit of the human hand accuracy. For example, microsurgery is a diffi-
引文
1 Taylor R,Jensen P,Whitcomb L,et al.A steady-hand robotic system for microsurgical augmentation.Int JRobotics Res,1999,18:1201-1210
2 Cecil J,Kumar M B B R,Lu Y,et al.A review of micro-devices assembly techniques and technology.Int J Adv Manuf Technol,2016,83:1569-1581
3 Mitchell B,Koo J,Iordachita I,et al.Development and application of a new steady-hand manipulator for retinal surgery.In:Proceedings of IEEE International Conference on Robotics and Automation,2007.623-629
4 Lecours A,Mayer-St-Onge B,Gosselin C.Variable admittance control of a four-degree-of-freedom intelligent assist device.In:Proceedings of International Conference on Robotics and Automation,2012.3903-3908
5 Ficuciello F,Villani L,Siciliano B.Variable impedance control of redundant manipulators for intuitive human-robot physical interaction.IEEE Trans Robot,2015,31:850-863
6 Li H Y,Paranawithana I,Yang L,et al.Stable and compliant motion of physical human-robot interaction coupled with a moving environment using variable admittance and adaptive control.IEEE Robot Autom Lett,2018,3:2493-2500
7 Degirmenci A,Hammond F L,Gafford J B,et al.Design and control of a parallel linkage wrist for robotic microsurgery.In:Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS),2015.222-228
8 Li H Y,Nuradha T,Xavier A,et al.Towards a compliant and accurate cooperative micromanipulator using variable admittance control.In:Proceedings of IEEEInternational Conference on Advanced Robotics and Mechatronics(ICARM),2018
9 Landi C T,Ferraguti F,Sabattini L,et al.Admittance control parameter adaptation for physical human-robot interaction.In:Proceedings of IEEE International Conference on Robotics and Automation(ICRA),2017.2911-2916
2 Cecil J,Kumar M B B R,Lu Y,et al.A review of micro-devices assembly techniques and technology.Int J Adv Manuf Technol,2016,83:1569-1581
3 Mitchell B,Koo J,Iordachita I,et al.Development and application of a new steady-hand manipulator for retinal surgery.In:Proceedings of IEEE International Conference on Robotics and Automation,2007.623-629
4 Lecours A,Mayer-St-Onge B,Gosselin C.Variable admittance control of a four-degree-of-freedom intelligent assist device.In:Proceedings of International Conference on Robotics and Automation,2012.3903-3908
5 Ficuciello F,Villani L,Siciliano B.Variable impedance control of redundant manipulators for intuitive human-robot physical interaction.IEEE Trans Robot,2015,31:850-863
6 Li H Y,Paranawithana I,Yang L,et al.Stable and compliant motion of physical human-robot interaction coupled with a moving environment using variable admittance and adaptive control.IEEE Robot Autom Lett,2018,3:2493-2500
7 Degirmenci A,Hammond F L,Gafford J B,et al.Design and control of a parallel linkage wrist for robotic microsurgery.In:Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS),2015.222-228
8 Li H Y,Nuradha T,Xavier A,et al.Towards a compliant and accurate cooperative micromanipulator using variable admittance control.In:Proceedings of IEEEInternational Conference on Advanced Robotics and Mechatronics(ICARM),2018
9 Landi C T,Ferraguti F,Sabattini L,et al.Admittance control parameter adaptation for physical human-robot interaction.In:Proceedings of IEEE International Conference on Robotics and Automation(ICRA),2017.2911-2916