Force control with hybrid actuator for virtual needle insertion.
Berk GonencHakan GurocakPublished in: World Haptics (2011)
Keyphrases
- force control
- position control
- needle insertion
- robot manipulators
- closed loop
- force feedback
- end effector
- control strategy
- control law
- contact force
- control scheme
- degrees of freedom
- robot arm
- virtual reality
- virtual environment
- virtual world
- augmented reality
- control system
- soft tissue
- expert systems
- finite element model
- interaction model