Now showing items 1-5 of 5
Physical human-robot interaction: Increasing safety by robot arm’s posture optimization
To have robot manipulators working alongside with humans is a necessity in service robots. Obviously, in these robotics applications, human safety has precedence over precision and repeatability, which are the most important ...
Control methods for a teleoperated endoscope robot
In this study, control of a endoscope robot for the pituitary gland surgery is presented. This co-worker robot has non-backdrivable actuation system with external brakes on the actuators. Since it is required to move in a ...
Viscoelastic modeling of human nasal tissues with a mobile measurement device
Modeling the dynamic of tool-tissue interaction for the robotic minimally invasive surgeries is one of the main issues for designing appropriate robot controllers. A mobile measurement device is produced in order to model ...
Design of a teleoperation scheme with a wearable master for minimally invasive surgery
Minimally invasive surgery is increasingly being preferred over conventional surgery, however many problems still persist in longer surgeries such as pituitary surgeries, where surgeons are still required to hold an endoscope ...
Experimental evaluation of actuation and sensing capabilities of a haptic device
Haptic devices are used to increase the telepresence level by providing the sense of touch to the human operator. Simultaneously, they capture the targeted motion of the human operator to generate a motion demand for the ...