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

Research output: Contribution to journalConference article

Abstract

This paper reports preliminary experiments with a new 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 recently 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.

Original languageEnglish (US)
Pages (from-to)610-617
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
StatePublished - Dec 3 2000
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: Apr 24 2000Apr 28 2000

ASJC Scopus subject areas

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

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