Augmented Haptic Guidance for Needle Insertion with a 2-DoF Wrist-Worn Haptic Device.
Mine SaracDuke LokeMax EvansOlivia ChongJames SaundersBasiel MakledAllison M. OkamuraKim HallettPublished in: WHC (2021)
Keyphrases
- force feedback
- end effector
- haptic device
- needle insertion
- degrees of freedom
- vision system
- robot arm
- haptic feedback
- inverse kinematics
- robot manipulators
- visual servoing
- visual feedback
- motion planning
- soft tissue deformation
- pose estimation
- robotic arm
- control law
- joint angles
- control scheme
- configuration space
- human pose