TY - GEN
T1 - Dynamic guidance with pseudoadmittance virtual fixtures
AU - Pezzementi, Zachary
AU - Okamura, Allison M.
AU - Hager, Gregory D.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=36349007004&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36349007004&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.363577
DO - 10.1109/ROBOT.2007.363577
M3 - Conference contribution
AN - SCOPUS:36349007004
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1761
EP - 1767
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -