Contact Force Control During Soft Tissue Interaction Using Handheld Robot.
Ingu ChoiEunchan KimMyo-Taeg LimSungwook YangPublished in: UR (2022)
Keyphrases
- soft tissue
- force control
- contact force
- robot manipulators
- force feedback
- medical images
- robotic systems
- finite element
- master slave
- robot control
- human operators
- visual feedback
- magnetic resonance
- autonomous robots
- control strategy
- end effector
- maxillofacial surgery
- minimally invasive surgery
- robotic arm
- needle insertion
- closed loop
- image registration
- visual servoing
- human computer interaction
- vision system
- mr images
- image segmentation
- mass spring
- haptic feedback
- mobile devices
- mobile robot
- deformable models
- inverse kinematics
- augmented reality
- motion planning
- path planning
- robot arm
- finite element model
- multi robot
- humanoid robot