Dynamic guidance with pseudoadmittance virtual fixtures

Zachary Pezzementi, Allison M. Okamura, Gregory D. Hager

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Human Machine Collaborative Systems (HMCS) have been developed to enhance sensation and suppress extraneous motions or forces during surgical tasks requiring precise motion. However, to date such systems have enforced constraints on the position or path of a tool, but have not considered the dynamics of motion. Also, the focus has been on the effect of guidance of motion during a task, rather than on the learning of motion skills through repetition. We present a pseudo-admittance framework for HMCS design to guide the user's velocity in such tasks. Two different fixture design approaches are analyzed, implemented and compared. Three tests are then conducted, showing the fixtures' promise for both guiding and learning motions with dynamics.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages1761-1767
Number of pages7
DOIs
StatePublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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