Control Movement Scheme based on Manipulability Concept for a Surgical Robotic Assistant.
Victor F. Muñoz-MartínezIsabel García-MoralesCarlos Jesús Pérez-del-PulgarJesús M. Gómez de GabrielJesús Fernández-LozanoAlfonso García-CerezoCarlos Vara-ThorbeckRobert Lopez ToscanoPublished in: ICRA (2006)