Proceedings ArticleDOI
Preliminary experiments in cooperative human/robot force control for robot assisted microsurgical manipulation
Rajesh Kumar,Peter Berkelman,Puneet Gupta,Aaron Barnes,Patrick S. Jensen,Louis L. Whitcomb,Russell H. Taylor +6 more
- Vol. 1, pp 610-617
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TLDR
Reports preliminary experiments with a robot system designed to cooperatively extend a human's ability to perform fine manipulation tasks requiring human judgement, sensory integration and hand-eye coordination, and preliminary feasibility experiments demonstrate stable one-dimensional robotic augmentation and "force scaling" of a human operator's tactile input.Abstract:
Reports preliminary experiments with a robot system designed to cooperatively extend a human's ability to perform fine manipulation tasks requiring human judgement, sensory integration and hand-eye coordination. A completed steady-hand robot is reported. A stable force control law is reviewed. Preliminary experiments validate theoretical predictions of stable one-dimensional control of tool-tip forces in contact with both linearly and nonlinearly compliant objects. Preliminary feasibility experiments demonstrate stable one-dimensional robotic augmentation and "force scaling" of a human operator's tactile input.read more
Citations
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Journal ArticleDOI
Medical robotics in computer-integrated surgery
TL;DR: A broad overview of medical robot systems used in surgery, including basic concepts of computer-integrated surgery, surgical CAD/CAM, and surgical assistants, and some of the major design issues particular to medical robots is provided.
Patent
Surgical robot and robotic controller
Kenneth L. Lipow,Dennis Gregoris +1 more
TL;DR: In this paper, a neurosurgeon developed a robot that mimics the results of primate neurological research, which is indicative of a human's actual neurological control structures and logic.
Journal ArticleDOI
Dynamic analysis of flexible manipulators, a literature review
TL;DR: A survey of the literature related to dynamic analyses of flexible robotic manipulators has been carried out in this article, where both link and joint flexibility are considered in this work and an effort has been made to critically examine the methods used in these analyses, their advantages and shortcomings and possible extension of these methods to be applied to a general class of problems.
Journal ArticleDOI
The evolution of robotics research
TL;DR: The aim of this article is to provide an overview of the evolution of research topics in robotics from classical motion control for industrial robots to modern intelligent control techniques and social learning paradigms, among other aspects.
Patent
Laparoscopic ultrasound robotic surgical system
TL;DR: A LUS robotic surgical system is trained by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure as discussed by the authors.
References
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A telerobotic assistant for laparoscopic surgery
Russell H. Taylor,Janez Funda,B. Eldridge,S. Gomory,K.G. Gruben,David Arthur Larose,Mark A. Talamini,Louis R. Kavoussi,James H. Anderson +8 more
TL;DR: A new generation of "intelligent" surgical systems that can work cooperatively with a human surgeon to off-load routine tasks, reduce the number of people needed in the operating room, and provide new capabilities that complement the surgeon's own skills are developed.
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An image-directed robotic system for precise orthopaedic surgery
Russell H. Taylor,B.D. Mittelstadt,H.A. Paul,William A. Hanson,Peter Kazanzides,Joel Zuhars,Bill Williamson,Bela Musits,Edward Glassman,William L. Bargar +9 more
TL;DR: An image-directed robotic system to augment the performance of human surgeons in precise bone machining procedures in orthopaedic surgery, initially targeted at cementless total hip replacement surgery, demonstrates an order-of-magnitude improvement in implant fit and placement accuracy, compared to standard manual preparation techniques.
Journal ArticleDOI
Teleoperation, Telerobotics, and Telepresence: A Progress Report
TL;DR: In this article, the authors briefly survey and report progress in the field of teleoperation, meaning human control of remote sensors and actuators, which is referred to as teleoperation called telerobotics.
Journal ArticleDOI
Comparative experiments with a new adaptive controller for robot arms
TL;DR: In this paper, a model-based adaptive controller and proof of its global asymptotic stability with respect to the standard rigid-body model of robot-arm dynamics are presented.
BookDOI
Space Robotics: Dynamics and Control
Yangsheng Xu,Darrell K. Root +1 more
TL;DR: In this article, Xu et al. described the dynamics of the virtual manipulator of a Free-Floating Space Robot (FLSRS) and demonstrated its ability to control the trajectory of the FLSRS.